jointpanel.h

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/* Author: Constantinos Chamzas, Zachary Kingston */

#ifndef SE2EZ_GUI_JOINTPANEL_
#define SE2EZ_GUI_JOINTPANEL_

#include <mutex>
#include <set>

#include <QWidget>
#include <QPainter>

#include <se2ez/core/class_forward.h>

#include <se2ez/gui/panel.h>

namespace Ui
{
    class JointPanel;
}

namespace se2ez
{
    /** \cond IGNORE */
    SE2EZ_CLASS_FORWARD(Robot)
    SE2EZ_CLASS_FORWARD(State)
    SE2EZ_CLASS_FORWARD(TreeIK)
    SE2EZ_CLASS_FORWARD(CollisionManager)
    /** \endcond */

    namespace gui
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(RenderArea)
        SE2EZ_CLASS_FORWARD(JointWidget)
        /** \endcond */

        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(JointPanel)
        /** \endcond */

        class JointPanel : public Panel
        {
            Q_OBJECT

            friend class JointWidget;

        public:
            JointPanel(RobotPtr robot, std::string name, QWidget *parent = 0);
            ~JointPanel();

            void draw(QPainter &painter, RenderArea *canvas) override;
            bool click(QMouseEvent *event, double x, double y, int sx, int sy) override;
            void update(boost::posix_time::ptime last, boost::posix_time::ptime current) override;

            void setState(const StatePtr &state);
            void getState(StatePtr state);
            const RobotPtr &getRobot();
            const StatePtr &getState();

            const std::string &getEE();
            std::string getSignature();

        public slots:
            void updateState();
            void reset();
            void random();
            void randomCollisionFree();
            void updateIK();

        signals:
            void stateChanged();

        private:
            Ui::JointPanel *ui_;

            RobotPtr robot_{nullptr};
            StatePtr jstate_{nullptr};

            std::string ee_;
            TreeIKPtr ik_{nullptr};
            CollisionManagerPtr cm_{nullptr};
            std::set<std::string> colliding_;
            CollisionManager::SignedDistance minimum_;
            CollisionManager::SignedDistanceMap distances_;

            std::vector<JointWidget *> joints_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif  // JOINTPANEL_H