JointControlWidget.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GAZEBO_GUI_JOINTCONTROLWIDGET_HH_
#define GAZEBO_GUI_JOINTCONTROLWIDGET_HH_

#include <functional>
#include <memory>
#include <string>
#include <ignition/msgs.hh>
#include <ignition/transport.hh>
#include "gazebo/gui/qt.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace msgs
  {
    class Model;
  }

  namespace gui
  {
    class JointControlWidgetPrivate;
    class JointForceControl;
    class JointForceControlPrivate;
    class JointPIDPosControl;
    class JointPIDPosControlPrivate;
    class JointPIDVelControl;
    class JointPIDVelControlPrivate;

    class GZ_GUI_VISIBLE JointControlWidget : public QWidget
    {
      Q_OBJECT

      public: explicit JointControlWidget(QWidget *_parent = 0);

      public: virtual ~JointControlWidget();

      public: void SetModelName(const std::string &_modelName);

      private: void ResponseCallback(const std::string &_modelName,
          const ignition::msgs::JointCmd &_rep, const bool _result);

      private slots: void OnResponse(const std::string &_modelName,
          const ignition::msgs::JointCmd &_rep);

      Q_SIGNALS: void repReceived(const std::string &_modelName,
          const ignition::msgs::JointCmd &_rep);

      private slots: void OnReset();

      private slots: void OnForceChanged(double _value,
                                         const std::string &_name);

      private slots: void OnPIDPosChanged(double _value,
                                          const std::string &_name);

      private slots: void OnPPosGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnDPosGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnIPosGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnPIDVelChanged(double _value,
                                          const std::string &_name);

      private slots: void OnPVelGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnDVelGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnIVelGainChanged(double _value,
                                            const std::string &_name);

      private slots: void OnPIDPosUnitsChanged(int _index);

      private: void AddScrollTab(QTabWidget *_tabPane,
                                 QGridLayout *_tabLayout,
                                 const QString &_name);

      private: void LayoutForceTab(msgs::Model &_modelMsg);

      private: void LayoutPositionTab(msgs::Model &_modelMsg);

      private: void LayoutVelocityTab(msgs::Model &_modelMsg);

      private: std::unique_ptr<JointControlWidgetPrivate> dataPtr;
    };

    class GZ_GUI_VISIBLE JointForceControl : public QWidget
    {
      Q_OBJECT

      public: JointForceControl(const std::string &_name,
                  QGridLayout *_layout, QWidget *_parent, int _index);

      public: virtual ~JointForceControl();

      public: void Reset();

      public: void SetForce(const double _force);

      public: void SetShowActive(const bool _active);

      public slots: void OnChanged(double _value);

      Q_SIGNALS: void changed(double _value, const std::string &_name);

      private: std::unique_ptr<JointForceControlPrivate> dataPtr;
    };

    class GZ_GUI_VISIBLE JointPIDPosControl : public QWidget
    {
      Q_OBJECT

      public: JointPIDPosControl(const std::string &_name,
                  QGridLayout *_layout, QWidget *_parent, int _index);

      public: virtual ~JointPIDPosControl();

      public: void Reset();

      public: void SetPositionTarget(const double _target);

      public: void SetPGain(const double _pGain);

      public: void SetIGain(const double _iGain);

      public: void SetDGain(const double _dGain);

      public: void SetShowActive(const bool _active);

      public: void SetToRadians();

      public: void SetToDegrees();

      public slots: void OnChanged(double _value);

      public slots: void OnPChanged(double _value);

      public slots: void OnIChanged(double _value);

      public slots: void OnDChanged(double _value);

      Q_SIGNALS: void changed(double _value, const std::string &_name);

      Q_SIGNALS: void pChanged(double _value, const std::string &_name);

      Q_SIGNALS: void dChanged(double _value, const std::string &_name);

      Q_SIGNALS: void iChanged(double _value, const std::string &_name);

      private: std::unique_ptr<JointPIDPosControlPrivate> dataPtr;
    };

    class GZ_GUI_VISIBLE JointPIDVelControl : public QWidget
    {
      Q_OBJECT

      public: JointPIDVelControl(const std::string &_name,
                  QGridLayout *_layout, QWidget *_parent, int _index);

      public: virtual ~JointPIDVelControl();

      public: void Reset();

      public: void SetVelocityTarget(const double _target);

      public: void SetPGain(const double _pGain);

      public: void SetIGain(const double _iGain);

      public: void SetDGain(const double _dGain);

      public: void SetShowActive(const bool _active);

      public slots: void OnChanged(double _value);

      public slots: void OnPChanged(double _value);

      public slots: void OnIChanged(double _value);

      public slots: void OnDChanged(double _value);

      Q_SIGNALS: void changed(double _value, const std::string &_name);

      Q_SIGNALS: void pChanged(double _value, const std::string &_name);

      Q_SIGNALS: void dChanged(double _value, const std::string &_name);

      Q_SIGNALS: void iChanged(double _value, const std::string &_name);

      private: std::unique_ptr<JointPIDVelControlPrivate> dataPtr;
    };
  }
}
#endif