task_panel_p.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Bielefeld University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Bielefeld University nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Robert Haschke
   Desc:   Monitor manipulation tasks and visualize their solutions
*/
 
#pragma once
 
#include "task_panel.h"
#include "ui_task_panel.h"
#include "ui_task_view.h"
#include "ui_global_settings.h"
#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
#include <actionlib/client/simple_action_client.h>
 
#include <rviz/panel.h>
#include <rviz/properties/property_tree_model.h>
#include <QPointer>
 
namespace moveit_rviz_plugin {
 
class BaseTaskModel;
class TaskListModel;
class TaskDisplay;
 
class TaskPanelPrivate : public Ui_TaskPanel
{
public:
        TaskPanelPrivate(TaskPanel* q_ptr);
 
        TaskPanel* q_ptr;
        QButtonGroup* tool_buttons_group;
        rviz::Property* property_root;
 
        rviz::WindowManagerInterface* window_manager_;
};
 
class TaskViewPrivate : public Ui_TaskView
{
public:
        TaskViewPrivate(TaskView* q_ptr);
 
        inline std::pair<TaskListModel*, TaskDisplay*> getTaskListModel(const QModelIndex& index) const;
 
        inline std::pair<BaseTaskModel*, QModelIndex> getTaskModel(const QModelIndex& index) const;
 
        void configureTaskListModel(TaskListModel* model);
        void configureExistingModels();
        void configureInsertedModels(const QModelIndex& parent, int first, int last);
 
        void lock(TaskDisplay* display);
 
        TaskView* q_ptr;
        QPointer<TaskDisplay> locked_display_;
        actionlib::SimpleActionClient<moveit_task_constructor_msgs::ExecuteTaskSolutionAction> exec_action_client_;
};
 
class GlobalSettingsWidgetPrivate : public Ui_GlobalSettingsWidget
{
public:
        GlobalSettingsWidgetPrivate(GlobalSettingsWidget* q_ptr, rviz::Property* root);
 
        GlobalSettingsWidget* q_ptr;
        rviz::PropertyTreeModel* properties;
};
}  // namespace moveit_rviz_plugin