urdf_modifications_widget.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_controllers/urdf_modifications.hpp>
 
#include <QPushButton>
#include <QCheckBox>
#include <QTextEdit>
 
namespace moveit_setup
{
namespace controllers
{
class UrdfModificationsWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  void onInit() override;
  void focusGiven() override;
 
  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }
private Q_SLOTS:
  void addInterfaces();
 
private:
  QWidget* makeInterfacesBox(const std::string& interface_type, const std::vector<std::string>& available_interfaces,
                             const std::vector<std::string>& selected_interfaces, QWidget* parent = nullptr);
  std::vector<std::string> getInterfaces(const char first_letter, const std::vector<std::string>& available_interfaces);
  QWidget* content_widget_;
  QPushButton* btn_add_interfaces_;
  QTextEdit* generated_text_widget_;
  std::unordered_map<std::string, QCheckBox*> check_boxes_;
 
  UrdfModifications setup_step_;
};
}  // namespace controllers
}  // namespace moveit_setup