trajectory_panel.h

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/* Author: Yannick Jonetzko */
 
#pragma once
 
#ifndef Q_MOC_RUN
#include <rclcpp/rclcpp.hpp>
#endif
 
#include <rviz_common/panel.hpp>
 
#include <QSlider>
#include <QLabel>
#include <QPushButton>
 
namespace moveit_rviz_plugin
{
class TrajectoryPanel : public rviz_common::Panel
{
  Q_OBJECT
 
public:
  TrajectoryPanel(QWidget* parent = nullptr);
 
  ~TrajectoryPanel() override;
 
  void onInitialize() override;
  void onEnable();
  void onDisable();
  void update(int way_point_count);
 
  // Switches between pause and play mode
  void pauseButton(bool check);
 
  void setSliderPosition(int position);
 
  int getSliderPosition() const
  {
    return slider_->sliderPosition();
  }
 
  bool isPaused() const
  {
    return paused_;
  }
 
private Q_SLOTS:
  void sliderValueChanged(int value);
  void buttonClicked();
 
protected:
  QSlider* slider_;
  QLabel* maximum_label_;
  QLabel* minimum_label_;
  QPushButton* button_;
 
  bool paused_;
  int last_way_point_;
};
 
}  // namespace moveit_rviz_plugin