17 #ifndef _JOINT_CONTROL_WIDGET_HH_
18 #define _JOINT_CONTROL_WIDGET_HH_
31 class JointForceControl;
32 class JointPIDPosControl;
33 class JointPIDVelControl;
52 public:
void SetModelName(
const std::string &_modelName);
55 private slots:
void OnReset();
60 private slots:
void OnForceChanged(
double _value,
61 const std::string &_name);
66 private slots:
void OnPIDPosChanged(
double _value,
67 const std::string &_name);
72 private slots:
void OnPPosGainChanged(
double _value,
73 const std::string &_name);
78 private slots:
void OnDPosGainChanged(
double _value,
79 const std::string &_name);
84 private slots:
void OnIPosGainChanged(
double _value,
85 const std::string &_name);
90 private slots:
void OnPIDVelChanged(
double _value,
91 const std::string &_name);
96 private slots:
void OnPVelGainChanged(
double _value,
97 const std::string &_name);
102 private slots:
void OnDVelGainChanged(
double _value,
103 const std::string &_name);
108 private slots:
void OnIVelGainChanged(
double _value,
109 const std::string &_name);
113 private slots:
void OnPIDPosUnitsChanged(
int _index);
119 private:
void AddScrollTab(QTabWidget *_tabPane,
120 QGridLayout *_tabLayout,
121 const QString &_name);
125 private:
void LayoutForceTab(msgs::Model &_modelMsg);
129 private:
void LayoutPositionTab(msgs::Model &_modelMsg);
133 private:
void LayoutVelocityTab(msgs::Model &_modelMsg);
142 private: std::map<std::string, JointForceControl*> sliders;
145 private: std::map<std::string, JointPIDPosControl*> pidPosSliders;
148 private: std::map<std::string, JointPIDVelControl*> pidVelSliders;
151 private: QLabel *modelLabel;
154 private: QTabWidget *tabWidget;
157 private: QGridLayout *forceGridLayout;
160 private: QGridLayout *positionGridLayout;
163 private: QGridLayout *velocityGridLayout;
178 QGridLayout *_layout, QWidget *_parent,
int _index);
184 public:
void Reset();
188 public slots:
void OnChanged(
double _value);
194 Q_SIGNALS:
void changed(
double _value,
const std::string &_name);
197 private: std::string name;
200 private: QDoubleSpinBox *forceSpin;
216 QGridLayout *_layout, QWidget *_parent,
int _index);
219 public:
void Reset();
222 public:
void SetToRadians();
225 public:
void SetToDegrees();
229 public slots:
void OnChanged(
double _value);
233 public slots:
void OnPChanged(
double _value);
237 public slots:
void OnIChanged(
double _value);
241 public slots:
void OnDChanged(
double _value);
247 Q_SIGNALS:
void changed(
double _value,
const std::string &_name);
253 Q_SIGNALS:
void pChanged(
double _value,
const std::string &_name);
259 Q_SIGNALS:
void dChanged(
double _value,
const std::string &_name);
265 Q_SIGNALS:
void iChanged(
double _value,
const std::string &_name);
268 private: QDoubleSpinBox *posSpin, *pGainSpin, *iGainSpin, *dGainSpin;
271 private: std::string name;
274 private:
bool radians;
290 QGridLayout *_layout, QWidget *_parent,
int _index);
293 public:
void Reset();
297 public slots:
void OnChanged(
double _value);
301 public slots:
void OnPChanged(
double _value);
305 public slots:
void OnIChanged(
double _value);
309 public slots:
void OnDChanged(
double _value);
315 Q_SIGNALS:
void changed(
double _value,
const std::string &_name);
321 Q_SIGNALS:
void pChanged(
double _value,
const std::string &_name);
327 Q_SIGNALS:
void dChanged(
double _value,
const std::string &_name);
333 Q_SIGNALS:
void iChanged(
double _value,
const std::string &_name);
336 private: QDoubleSpinBox *posSpin, *pGainSpin, *iGainSpin, *dGainSpin;
339 private: std::string name;
Widget to control joints via application of position PID controller.
Definition: JointControlWidget.hh:206
Widget to control joints via application of a velocity PID controller.
Definition: JointControlWidget.hh:280
Forward declarations for transport.
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Widget to control joints via application of force.
Definition: JointControlWidget.hh:168
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:66