robot_poses_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
#include <QComboBox>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QScrollArea>
#include <QSlider>
#include <QStackedWidget>
#include <QTableWidget>
#include <QVBoxLayout>
 
// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_srdf_plugins/robot_poses.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
class RobotPosesWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  void onInit() override;
 
  void focusGiven() override;
 
  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget* data_table_;
  QPushButton* btn_edit_;
  QPushButton* btn_delete_;
  QPushButton* btn_save_;
  QPushButton* btn_cancel_;
  QStackedWidget* stacked_widget_;
  QScrollArea* scroll_area_;
  QVBoxLayout* column2_;
  QLineEdit* pose_name_field_;
  QComboBox* group_name_field_;
  QWidget* joint_list_widget_;
  QVBoxLayout* joint_list_layout_;
  QWidget* pose_list_widget_;
  QWidget* pose_edit_widget_;
  QLabel* collision_warning_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void showNewScreen();
 
  void editSelected();
 
  void editDoubleClicked(int row, int column);
 
  void previewClicked(int row, int column, int previous_row, int previous_column);
 
  void deleteSelected();
 
  void doneEditing();
 
  void cancelEditing();
 
  void loadJointSliders(const QString& selected);
 
  void showDefaultPose();
 
  void playPoses();
 
  void updateRobotModel(const std::string& name, double value);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  RobotPoses setup_step_;
 
  srdf::Model::GroupState* current_edit_pose_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  QWidget* createContentsWidget();
 
  QWidget* createEditWidget();
 
  void loadDataTable();
 
  void loadGroupsComboBox();
 
  void edit(int row);
 
  void showPose(const srdf::Model::GroupState& pose);
 
  void updateStateAndCollision(const moveit::core::RobotState& robot_state);
};
 
// ******************************************************************************************
// ******************************************************************************************
// Slider Widget
// ******************************************************************************************
// ******************************************************************************************
class SliderWidget : public QWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value);
 
  ~SliderWidget() override;
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QLabel* joint_label_;
  QSlider* joint_slider_;
  QLineEdit* joint_value_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void changeJointValue(int value);
 
  void changeJointSlider();
 
Q_SIGNALS:
 
  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************
 
  void jointValueChanged(const std::string& name, double value);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  // Ptr to the joint's data
  const moveit::core::JointModel* joint_model_;
 
  // Max & min position
  double max_position_;
  double min_position_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
 
}  // namespace srdf_setup
}  // namespace moveit_setup
 
// Declare std::string as metatype so we can use it in a signal
Q_DECLARE_METATYPE(std::string)