moveit2
The MoveIt Motion Planning Framework for ROS 2.
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default_collisions_widget.hpp
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34
35/* Author: Dave Coleman */
36
37#pragma once
38
41
42#include <QThread>
43#include <QAbstractItemModel>
44#include <QAction>
45#include <QButtonGroup>
46#include <QCheckBox>
47#include <QGroupBox>
48#include <QHeaderView>
49#include <QItemSelection>
50#include <QItemSelectionModel>
51#include <QLabel>
52#include <QLineEdit>
53#include <QProgressBar>
54#include <QPushButton>
55#include <QSlider>
56#include <QSpinBox>
57#include <QTableView>
58#include <QVBoxLayout>
59
60namespace moveit_setup
61{
62namespace srdf_setup
63{
64class MonitorThread;
65
70{
71 Q_OBJECT
72
73public:
75 {
77 LINEAR_MODE = 1
78 };
79
80 // ******************************************************************************************
81 // Public Functions
82 // ******************************************************************************************
83 void onInit() override;
84
85 ~DefaultCollisionsWidget() override;
86
88 {
89 return setup_step_;
90 }
91
92private Q_SLOTS:
93
94 // ******************************************************************************************
95 // Slot Event Functions
96 // ******************************************************************************************
97
101 void startGeneratingCollisionTable();
105 void finishGeneratingCollisionTable();
106
111 void changeDensityLabel(int value);
112
116 void loadCollisionTable();
117
121 void checkedFilterChanged();
122
126 void collisionsChanged(const QModelIndex& index);
127
131 void revertChanges();
132
136 void previewSelectedMatrix(const QModelIndex& index);
137 void previewSelectedLinear(const QModelIndex& index);
138
142 void focusGiven() override;
143
147 bool focusLost() override;
148
149 void showHeaderContextMenu(const QPoint& p);
150 void hideSections();
151 void hideOtherSections();
152 void showSections();
153
154private:
155 // ******************************************************************************************
156 // Qt Components
157 // ******************************************************************************************
158 QLabel* page_title_;
159 QTableView* collision_table_;
160 QAbstractItemModel* model_;
161 QItemSelectionModel* selection_model_;
162 QVBoxLayout* layout_;
163 QLabel* density_value_label_;
164 QSlider* density_slider_;
165 QPushButton* btn_generate_;
166 QGroupBox* controls_box_;
167 QProgressBar* progress_bar_;
168 QLabel* progress_label_;
169 QLineEdit* link_name_filter_;
170 QCheckBox* collision_checkbox_;
171 QLabel* fraction_label_;
172 QSpinBox* fraction_spinbox_;
173 QPushButton* btn_revert_;
174 QButtonGroup* view_mode_buttons_;
175
176 QList<QAction*> header_actions_; // context actions for header sections
177 Qt::Orientations clicked_headers_; // remember which header section activated context actions
178 int clicked_section_; // remember which header section activated context actions
179
180 // ******************************************************************************************
181 // Variables
182 // ******************************************************************************************
183 MonitorThread* worker_;
184
185 DefaultCollisions setup_step_;
186
187 // ******************************************************************************************
188 // Private Functions
189 // ******************************************************************************************
190
195 void disableControls(bool disable);
196
200 bool eventFilter(QObject* object, QEvent* event) override;
201
205 void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
209 void toggleSelection(QItemSelection selection);
210};
211
215class MonitorThread : public QThread
216{
217 Q_OBJECT
218
219public:
220 MonitorThread(DefaultCollisions& setup_step, QProgressBar* progress_bar = nullptr);
221 void run() override;
222 void cancel()
223 {
224 canceled_ = true;
225 }
226 bool canceled() const
227 {
228 return canceled_;
229 }
230
231Q_SIGNALS:
232 void progress(int /*_t1*/);
233
234private:
235 DefaultCollisions& setup_step_;
236 bool canceled_;
237};
238} // namespace srdf_setup
239} // namespace moveit_setup
The GUI code for one SetupStep.
Contains all of the non-GUI code necessary for doing one "screen" worth of setup.
User interface for editing the default collision matrix list in an SRDF.
SetupStep & getSetupStep() override
Return a reference to the SetupStep object.
QThread to monitor progress of the setup step.