moveit2
The MoveIt Motion Planning Framework for ROS 2.
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robot_poses_widget.hpp
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34
35/* Author: Dave Coleman */
36
37#pragma once
38
39// Qt
40#include <QComboBox>
41#include <QLabel>
42#include <QLineEdit>
43#include <QPushButton>
44#include <QScrollArea>
45#include <QSlider>
46#include <QStackedWidget>
47#include <QTableWidget>
48#include <QVBoxLayout>
49
50// SA
53
54namespace moveit_setup
55{
56namespace srdf_setup
57{
59{
60 Q_OBJECT
61
62public:
63 // ******************************************************************************************
64 // Public Functions
65 // ******************************************************************************************
66
67 void onInit() override;
68
70 void focusGiven() override;
71
73 {
74 return setup_step_;
75 }
76
77 // ******************************************************************************************
78 // Qt Components
79 // ******************************************************************************************
80 QTableWidget* data_table_;
81 QPushButton* btn_edit_;
82 QPushButton* btn_delete_;
83 QPushButton* btn_save_;
84 QPushButton* btn_cancel_;
85 QStackedWidget* stacked_widget_;
86 QScrollArea* scroll_area_;
87 QVBoxLayout* column2_;
88 QLineEdit* pose_name_field_;
91 QVBoxLayout* joint_list_layout_;
95
96private Q_SLOTS:
97
98 // ******************************************************************************************
99 // Slot Event Functions
100 // ******************************************************************************************
101
103 void showNewScreen();
104
106 void editSelected();
107
109 void editDoubleClicked(int row, int column);
110
112 void previewClicked(int row, int column, int previous_row, int previous_column);
113
115 void deleteSelected();
116
118 void doneEditing();
119
121 void cancelEditing();
122
124 void loadJointSliders(const QString& selected);
125
127 void showDefaultPose();
128
130 void playPoses();
131
138 void updateRobotModel(const std::string& name, double value);
139
140private:
141 // ******************************************************************************************
142 // Variables
143 // ******************************************************************************************
144
145 RobotPoses setup_step_;
146
148 srdf::Model::GroupState* current_edit_pose_;
149
150 // ******************************************************************************************
151 // Private Functions
152 // ******************************************************************************************
153
159 QWidget* createContentsWidget();
160
166 QWidget* createEditWidget();
167
172 void loadDataTable();
173
178 void loadGroupsComboBox();
179
185 void edit(int row);
186
190 void showPose(const srdf::Model::GroupState& pose);
191
192 void updateStateAndCollision(const moveit::core::RobotState& robot_state);
193};
194
195// ******************************************************************************************
196// ******************************************************************************************
197// Slider Widget
198// ******************************************************************************************
199// ******************************************************************************************
200class SliderWidget : public QWidget
201{
202 Q_OBJECT
203
204public:
205 // ******************************************************************************************
206 // Public Functions
207 // ******************************************************************************************
208
215 SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value);
216
220 ~SliderWidget() override;
221
222 // ******************************************************************************************
223 // Qt Components
224 // ******************************************************************************************
225
228 QLineEdit* joint_value_;
229
230private Q_SLOTS:
231
232 // ******************************************************************************************
233 // Slot Event Functions
234 // ******************************************************************************************
235
237 void changeJointValue(int value);
238
240 void changeJointSlider();
241
242Q_SIGNALS:
243
244 // ******************************************************************************************
245 // Emitted Signal Functions
246 // ******************************************************************************************
247
249 void jointValueChanged(const std::string& name, double value);
250
251private:
252 // ******************************************************************************************
253 // Variables
254 // ******************************************************************************************
255
256 // Ptr to the joint's data
257 const moveit::core::JointModel* joint_model_;
258
259 // Max & min position
260 double max_position_;
261 double min_position_;
262
263 // ******************************************************************************************
264 // Private Functions
265 // ******************************************************************************************
266};
267
268} // namespace srdf_setup
269} // namespace moveit_setup
270
271// Declare std::string as metatype so we can use it in a signal
272Q_DECLARE_METATYPE(std::string)
A joint from the robot. Models the transform that this joint applies in the kinematic chain....
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition robot_state.h:90
The GUI code for one SetupStep.
Contains all of the non-GUI code necessary for doing one "screen" worth of setup.
void focusGiven() override
Received when this widget is chosen from the navigation menu.
SetupStep & getSetupStep() override
Return a reference to the SetupStep object.
void jointValueChanged(const std::string &name, double value)
Indicate joint name and value when slider widget changed.
Q_DECLARE_METATYPE(moveit_setup::srdf_setup::PlanGroupType)