jointwidget.h

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/* Author: Constantinos Chamzas, Zachary Kingston */

#ifndef SE2EZ_GUI_JOINTWIDGET_
#define SE2EZ_GUI_JOINTWIDGET_

#include <QWidget>
#include <QSlider>
#include <QDoubleSpinBox>

#include <Eigen/Core>

#include <se2ez/core/class_forward.h>

namespace Ui
{
    class JointWidget;
}

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

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

        class JointWidget : public QWidget
        {
            Q_OBJECT;

        public:
            JointWidget(Panel *parent, std::string name, RobotPtr robot, StatePtr state);

            void updateState();
            void fromState();
            void reset();
            ~JointWidget();

        signals:
            void stateChanged();

        private slots:
            void xChanged(int value);
            void yChanged(int value);
            void tChanged(int value);
            void xBoxChanged(double value);
            void yBoxChanged(double value);
            void tBoxChanged(double value);

        private:
            void keyPressEvent(QKeyEvent *event);
            void setValue();
            void setSlider(unsigned int index, int value, bool update);
            void setBox(unsigned int index, double value, bool update);

            Eigen::Vector3d value_;
            Eigen::Vector3d lower_;
            Eigen::Vector3d upper_;

            StatePtr state_{nullptr};
            RobotPtr robot_{nullptr};

            std::string name_;
            Ui::JointWidget *ui_;
            QSlider *sliders[3];
            QDoubleSpinBox *boxes[3];

            Panel *panel_;
        };
    }  // namespace gui
}  // namespace se2ez

#endif