JointControlWidget.hh

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/*
 * Copyright (C) 2012-2014 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 _JOINT_CONTROL_WIDGET_HH_
#define _JOINT_CONTROL_WIDGET_HH_

#include <string>
#include <map>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/gui/qt.h"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class JointForceControl;
    class JointPIDPosControl;
    class JointPIDVelControl;

    class GAZEBO_VISIBLE JointControlWidget : public QWidget
    {
      Q_OBJECT

      public: JointControlWidget(QWidget *_parent = 0);

      public: virtual ~JointControlWidget();

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

      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: transport::NodePtr node;

      private: transport::PublisherPtr jointPub;

      private: std::map<std::string, JointForceControl*> sliders;

      private: std::map<std::string, JointPIDPosControl*> pidPosSliders;

      private: std::map<std::string, JointPIDVelControl*> pidVelSliders;

      private: QLabel *modelLabel;

      private: QTabWidget *tabWidget;

      private: QGridLayout *forceGridLayout;

      private: QGridLayout *positionGridLayout;

      private: QGridLayout *velocityGridLayout;
    };

    class GAZEBO_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 slots: void OnChanged(double _value);

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

      private: std::string name;

      private: QDoubleSpinBox *forceSpin;
    };

    class GAZEBO_VISIBLE JointPIDPosControl : public QWidget
    {
      Q_OBJECT

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

      public: void Reset();

      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: QDoubleSpinBox *posSpin, *pGainSpin, *iGainSpin, *dGainSpin;

      private: std::string name;

      private: bool radians;
    };

    class GAZEBO_VISIBLE JointPIDVelControl : public QWidget
    {
      Q_OBJECT

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

      public: void Reset();

      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: QDoubleSpinBox *posSpin, *pGainSpin, *iGainSpin, *dGainSpin;

      private: std::string name;
    };
  }
}
#endif