// ******************************************************************************************
// Constructor
// ******************************************************************************************
KinematicChainWidget::KinematicChainWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data )
: QWidget( parent ), config_data_( config_data )
{
// Basic widget container
QVBoxLayout *layout = new QVBoxLayout( );
// Label ------------------------------------------------
title_ = new QLabel( "", this ); // specify the title from the parent widget
QFont group_title_font( "Arial", 12, QFont::Bold );
title_->setFont(group_title_font);
layout->addWidget( title_ );
// Create link tree ------------------------------------------------------
link_tree_ = new QTreeWidget( this );
link_tree_->setHeaderLabel( "Robot Links" );
connect( link_tree_, SIGNAL( itemSelectionChanged() ), this, SLOT( itemSelected() ) );
layout->addWidget( link_tree_ );
// Create Grid Layout for form --------------------------------------------
QGridLayout *form_grid = new QGridLayout();
form_grid->setContentsMargins( 20, 20, 20, 20 ); // left top right bottom
// Row 1: Base Link
QLabel *base_link_label = new QLabel( "Base Link", this );
form_grid->addWidget( base_link_label, 0, 0, Qt::AlignRight );
base_link_field_ = new QLineEdit( this );
base_link_field_->setMinimumWidth( 300 );
form_grid->addWidget( base_link_field_, 0, 1, Qt::AlignLeft );
QPushButton *btn_base_link = new QPushButton( "Choose Selected", this );
connect( btn_base_link, SIGNAL( clicked() ), this, SLOT( baseLinkTreeClick() ));
form_grid->addWidget( btn_base_link, 0, 2, Qt::AlignLeft );
// Row 2: Tip Link
QLabel *tip_link_label = new QLabel( "Tip Link", this );
form_grid->addWidget( tip_link_label, 1, 0, Qt::AlignRight );
tip_link_field_ = new QLineEdit( this );
tip_link_field_->setMinimumWidth( 300 );
form_grid->addWidget( tip_link_field_, 1, 1, Qt::AlignLeft );
QPushButton *btn_tip_link = new QPushButton( "Choose Selected", this );
connect( btn_tip_link, SIGNAL( clicked() ), this, SLOT( tipLinkTreeClick() ));
form_grid->addWidget( btn_tip_link, 1, 2, Qt::AlignLeft );
// Add form grid layout
layout->addLayout( form_grid );
// Bottom Controls ---------------------------------------------------------
QHBoxLayout *controls_layout = new QHBoxLayout();
// Expand/Contract controls
QLabel *expand_controls = new QLabel( this );
expand_controls->setText("<a href='expand'>Expand All</a> <a href='contract'>Collapse All</a>");
connect( expand_controls, SIGNAL(linkActivated( const QString )), this, SLOT( alterTree( const QString )));
controls_layout->addWidget( expand_controls );
// Spacer
QWidget *spacer = new QWidget( this );
spacer->setSizePolicy( QSizePolicy::Expanding, QSizePolicy::Preferred );
controls_layout->addWidget( spacer );
// Save
QPushButton *btn_save = new QPushButton( "&Save", this );
btn_save->setMaximumWidth( 200 );
connect( btn_save, SIGNAL(clicked()), this, SIGNAL( doneEditing() ) );
controls_layout->addWidget( btn_save );
controls_layout->setAlignment(btn_save, Qt::AlignRight);
// Cancel
QPushButton *btn_cancel = new QPushButton( "&Cancel", this );
btn_cancel->setMaximumWidth( 200 );
connect( btn_cancel, SIGNAL(clicked()), this, SIGNAL( cancelEditing() ) );
controls_layout->addWidget( btn_cancel );
controls_layout->setAlignment(btn_cancel, Qt::AlignRight);
// Add layout
layout->addLayout( controls_layout );
// Finish Layout --------------------------------------------------
this->setLayout(layout);
// Remember that we have no loaded the chains yet
kinematic_chain_loaded_ = false;
}
// ******************************************************************************************
//
// ******************************************************************************************
GroupEditWidget::GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& config_data)
: QWidget(parent), config_data_(config_data)
{
// Basic widget container
QVBoxLayout* layout = new QVBoxLayout();
QGroupBox* group1 = new QGroupBox("Kinematics");
QGroupBox* group2 = new QGroupBox("OMPL Planning");
// Label ------------------------------------------------
title_ = new QLabel(this); // specify the title from the parent widget
QFont group_title_font(QFont().defaultFamily(), 12, QFont::Bold);
title_->setFont(group_title_font);
layout->addWidget(title_);
// Kinematic form -------------------------------------------
QFormLayout* form_layout = new QFormLayout();
form_layout->setContentsMargins(0, 12, 0, 12);
// Name input
group_name_field_ = new QLineEdit(this);
group_name_field_->setMaximumWidth(400);
form_layout->addRow("Group Name:", group_name_field_);
// Kinematic solver
kinematics_solver_field_ = new QComboBox(this);
kinematics_solver_field_->setEditable(false);
kinematics_solver_field_->setMaximumWidth(400);
form_layout->addRow("Kinematic Solver:", kinematics_solver_field_);
// resolution to use with solver
kinematics_resolution_field_ = new QLineEdit(this);
kinematics_resolution_field_->setMaximumWidth(400);
form_layout->addRow("Kin. Search Resolution:", kinematics_resolution_field_);
// resolution to use with solver
kinematics_timeout_field_ = new QLineEdit(this);
kinematics_timeout_field_->setMaximumWidth(400);
form_layout->addRow("Kin. Search Timeout (sec):", kinematics_timeout_field_);
group1->setLayout(form_layout);
// OMPL Planner form --------------------------------------------
QFormLayout* form_layout2 = new QFormLayout();
form_layout2->setContentsMargins(0, 12, 0, 12);
// Kinematic default planner
default_planner_field_ = new QComboBox(this);
default_planner_field_->setEditable(false);
default_planner_field_->setMaximumWidth(400);
form_layout2->addRow("Group Default Planner:", default_planner_field_);
group2->setLayout(form_layout2);
layout->addWidget(group1);
layout->addWidget(group2);
layout->setAlignment(Qt::AlignTop);
// New Group Options ---------------------------------------------------------
new_buttons_widget_ = new QWidget();
QVBoxLayout* new_buttons_layout_container = new QVBoxLayout();
QHBoxLayout* label_layout = new QHBoxLayout();
QHBoxLayout* recommended_options = new QHBoxLayout();
QHBoxLayout* advanced_options = new QHBoxLayout();
QLabel* save_and_add = new QLabel("Next, Add Components To Group:", this);
QFont save_and_add_font(QFont().defaultFamily(), 12, QFont::Bold);
save_and_add->setFont(save_and_add_font);
label_layout->addWidget(save_and_add);
// Recommended options
QLabel* add_subtitle = new QLabel("Recommended: ", this);
QFont add_subtitle_font(QFont().defaultFamily(), 10, QFont::Bold);
add_subtitle->setFont(add_subtitle_font);
recommended_options->addWidget(add_subtitle, 0, Qt::AlignLeft);
// Save and add joints
QPushButton* btn_save_joints = new QPushButton("Add Joints", this);
btn_save_joints->setMaximumWidth(200);
connect(btn_save_joints, SIGNAL(clicked()), this, SIGNAL(saveJoints()));
recommended_options->addWidget(btn_save_joints);
// Advanced options
QLabel* add_subtitle2 = new QLabel("Advanced Options:", this);
add_subtitle2->setFont(add_subtitle_font);
advanced_options->addWidget(add_subtitle2, 0, Qt::AlignLeft);
// Save and add links
QPushButton* btn_save_links = new QPushButton("Add Links", this);
btn_save_links->setMaximumWidth(200);
connect(btn_save_links, SIGNAL(clicked()), this, SIGNAL(saveLinks()));
advanced_options->addWidget(btn_save_links);
// Save and add chain
QPushButton* btn_save_chain = new QPushButton("Add Kin. Chain", this);
btn_save_chain->setMaximumWidth(200);
connect(btn_save_chain, SIGNAL(clicked()), this, SIGNAL(saveChain()));
advanced_options->addWidget(btn_save_chain);
// Save and add subgroups
QPushButton* btn_save_subgroups = new QPushButton("Add Subgroups", this);
btn_save_subgroups->setMaximumWidth(200);
connect(btn_save_subgroups, SIGNAL(clicked()), this, SIGNAL(saveSubgroups()));
advanced_options->addWidget(btn_save_subgroups);
// Add layouts
new_buttons_layout_container->addLayout(label_layout);
new_buttons_layout_container->addLayout(recommended_options);
new_buttons_layout_container->addLayout(advanced_options);
// Create widget and add to main layout
new_buttons_widget_->setLayout(new_buttons_layout_container);
layout->addWidget(new_buttons_widget_);
// Verticle Spacer -----------------------------------------------------
QWidget* vspacer = new QWidget(this);
vspacer->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
layout->addWidget(vspacer);
// Bottom Controls ---------------------------------------------------------
QHBoxLayout* controls_layout = new QHBoxLayout();
// Delete
btn_delete_ = new QPushButton("&Delete Group", this);
btn_delete_->setMaximumWidth(200);
connect(btn_delete_, SIGNAL(clicked()), this, SIGNAL(deleteGroup()));
controls_layout->addWidget(btn_delete_);
controls_layout->setAlignment(btn_delete_, Qt::AlignRight);
// Horizontal Spacer
QWidget* spacer = new QWidget(this);
spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
controls_layout->addWidget(spacer);
// Save
btn_save_ = new QPushButton("&Save", this);
btn_save_->setMaximumWidth(200);
connect(btn_save_, SIGNAL(clicked()), this, SIGNAL(save()));
controls_layout->addWidget(btn_save_);
controls_layout->setAlignment(btn_save_, Qt::AlignRight);
// Cancel
QPushButton* btn_cancel = new QPushButton("&Cancel", this);
btn_cancel->setMaximumWidth(200);
connect(btn_cancel, SIGNAL(clicked()), this, SIGNAL(cancelEditing()));
controls_layout->addWidget(btn_cancel);
controls_layout->setAlignment(btn_cancel, Qt::AlignRight);
// Add layout
layout->addLayout(controls_layout);
// Finish Layout --------------------------------------------------
this->setLayout(layout);
}
