collision_matrix_model.hpp

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/* Author: Robert Haschke */
 
#pragma once
 
#include <QAbstractTableModel>
 
#ifndef Q_MOC_RUN
#include <moveit_setup_srdf_plugins/compute_default_collisions.hpp>
#endif
 
#include <QItemSelection>
namespace moveit_setup
{
namespace srdf_setup
{
class CollisionMatrixModel : public QAbstractTableModel
{
  Q_OBJECT
public:
  CollisionMatrixModel(LinkPairMap& pairs, const std::vector<std::string>& names, QObject* parent = nullptr);
  int rowCount(const QModelIndex& parent = QModelIndex()) const override;
  int columnCount(const QModelIndex& parent = QModelIndex()) const override;
  QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
  QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
  DisabledReason reason(const QModelIndex& index) const;
 
  // for editing
  Qt::ItemFlags flags(const QModelIndex& index) const override;
  bool setData(const QModelIndex& /*index*/, const QVariant& value, int role) override;
  void setEnabled(const QItemSelection& selection, bool value);
  void setEnabled(const QModelIndexList& indexes, bool value);
 
public Q_SLOTS:
  void setFilterRegExp(const QString& filter);
 
private:
  LinkPairMap::iterator item(const QModelIndex& index);
  LinkPairMap::const_iterator item(const QModelIndex& index) const
  {
    return const_cast<CollisionMatrixModel*>(this)->item(index);
  }
 
private:
  LinkPairMap& pairs;
  const std::vector<std::string> std_names;  // names of links
  QList<QString> q_names;                    // names of links
  QList<int> visual_to_index;                // map from visual index to actual index
};
}  // namespace srdf_setup
}  // namespace moveit_setup