virtual_joints_widget.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_srdf_plugins/virtual_joints.hpp>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QStackedWidget>
#include <QComboBox>
#include <QTableWidget>
 
namespace moveit_setup
{
namespace srdf_setup
{
class VirtualJointsWidget : public SetupStepWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }
 
  void onInit() override;
 
  void focusGiven() override;
 
protected:
  VirtualJoints setup_step_;
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget* data_table_;
  QPushButton* btn_edit_;
  QPushButton* btn_delete_;
  QPushButton* btn_save_;
  QPushButton* btn_cancel_;
  QStackedWidget* stacked_widget_;
  QLineEdit* vjoint_name_field_;
  QLineEdit* parent_name_field_;
  QComboBox* child_link_field_;
  QComboBox* joint_type_field_;
  QWidget* vjoint_list_widget_;
  QWidget* vjoint_edit_widget_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void showNewScreen();
 
  void editSelected();
 
  void editDoubleClicked(int row, int column);
 
  void previewClicked(int row, int column);
 
  void deleteSelected();
 
  void doneEditing();
 
  void cancelEditing();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  std::string current_edit_vjoint_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  QWidget* createContentsWidget();
 
  QWidget* createEditWidget();
 
  void loadDataTable();
 
  void loadJointTypesComboBox();
 
  void loadChildLinksComboBox();
 
  void edit(const std::string& name);
};
 
}  // namespace srdf_setup
}  // namespace moveit_setup