passive_joints_widget.cpp

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/* Author: Dave Coleman */
 
// SA
#include <moveit_setup_srdf_plugins/passive_joints_widget.hpp>
#include <moveit_setup_framework/qt/helper_widgets.hpp>
 
// Qt
#include <QFormLayout>
#include <QLabel>
#include <QMessageBox>
#include <QTableWidget>
 
namespace moveit_setup
{
namespace srdf_setup
{
// ******************************************************************************************
// Constructor
// ******************************************************************************************
void PassiveJointsWidget::onInit()
{
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout();
 
  // Top Header Area ------------------------------------------------
 
  auto header = new HeaderWidget(
      "Define Passive Joints",
      "Specify the set of passive joints (not actuated). Joint state is not expected to be published for these joints.",
      this);
  layout->addWidget(header);
 
  // Joints edit widget
  joints_widget_ = new DoubleListWidget(this, "Joint Collection", "Joint", false);
  connect(joints_widget_, SIGNAL(selectionUpdated()), this, SLOT(selectionUpdated()));
  connect(joints_widget_, SIGNAL(previewSelected(std::vector<std::string>)), this,
          SLOT(previewSelectedJoints(std::vector<std::string>)));
 
  // Set the title
  joints_widget_->title_->setText("");
 
  joints_widget_->setColumnNames("Active Joints", "Passive Joints");
 
  layout->addWidget(joints_widget_);
 
  // Finish Layout --------------------------------------------------
  setLayout(layout);
}
 
// ******************************************************************************************
//
// ******************************************************************************************
void PassiveJointsWidget::focusGiven()
{
  joints_widget_->clearContents();
 
  std::vector<std::string> active_joints = setup_step_.getActiveJoints();
 
  if (active_joints.empty())
  {
    QMessageBox::critical(this, "Error Loading", "No joints found for robot model");
    return;
  }
 
  // Set the available joints (left box)
  joints_widget_->setAvailable(active_joints);
 
  joints_widget_->setSelected(setup_step_.getPassiveJoints());
}
 
// ******************************************************************************************
//
// ******************************************************************************************
void PassiveJointsWidget::selectionUpdated()
{
  setup_step_.setPassiveJoints(joints_widget_->getSelectedValues());
}
 
// ******************************************************************************************
// Called from Double List widget to highlight joints
// ******************************************************************************************
void PassiveJointsWidget::previewSelectedJoints(const std::vector<std::string>& joints)
{
  // Unhighlight all links
  rviz_panel_->unhighlightAll();
 
  for (const std::string& joint : joints)
  {
    std::string link = setup_step_.getChildOfJoint(joint);
    // Check that a joint model/link was found
    if (link.empty())
    {
      continue;
    }
 
    // Highlight link
    rviz_panel_->highlightLink(link, QColor(255, 0, 0));
  }
}
 
}  // namespace srdf_setup
}  // namespace moveit_setup
 
#include <pluginlib/class_list_macros.hpp>  // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::srdf_setup::PassiveJointsWidget, moveit_setup::SetupStepWidget)