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// |
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// Copyright (c) CNRS |
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// Author: Joseph Mirabel and Heidy Dallard |
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// |
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#ifndef HPP_GUI_PATHPLAYER_HH |
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#define HPP_GUI_PATHPLAYER_HH |
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#include <QWidget> |
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#include <gepetto/gui/fwd.hh> |
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class QDoubleSpinBox; |
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class QProcess; |
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class QPushButton; |
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class QSpinBox; |
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class QSlider; |
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class QTextBrowser; |
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namespace Ui { |
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class PathPlayerWidget; |
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} |
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namespace hpp { |
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namespace gui { |
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class HppWidgetsPlugin; |
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class PathPlayer : public QWidget { |
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✗ |
Q_OBJECT |
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public: |
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PathPlayer(HppWidgetsPlugin* plugin, QWidget* parent = 0); |
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~PathPlayer(); |
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public slots: |
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/// Returns the path currently selected. |
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int getCurrentPath() const; |
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/// Display the waypoints of a joint in the viewer. |
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/// The waypoints are those of the currently selected path index. |
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/// \param jointName name of the joint |
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void displayWaypointsOfPath(const std::string jointName); |
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/// Prepare the display of the path of a joint in the viewer. |
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/// The path is took from the currently selected path index. |
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/// \param jointName name of the joint |
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void displayPath(const std::string jointName); |
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/// Get the number of paths in hpp and refresh the gui accordingly. |
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void update(); |
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/// Tells the path player to set the robot current velocity. |
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void setRobotVelocity(bool set); |
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/// Distance between two sampling point |
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double lengthBetweenRefresh() const; |
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/// Set the slider position |
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void setCurrentTime(const double& param); |
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protected: |
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/// Display the path of the jointName in the viewer. |
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/// The path is took from the currently selected path index. |
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/// \param jointName name of the joint |
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virtual void displayPath_impl(const std::string jointName); |
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signals: |
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void displayPath_status(int progress); |
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void appliedConfigAtParam(int pid, double param); |
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private slots: |
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void pathIndexChanged(int i); |
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void pathSliderChanged(int value); |
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// void timeChanged (double d); |
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void playPauseToggled(bool toggled); |
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void stopClicked(); |
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void pathPulse(); |
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void timerEvent(QTimerEvent* event); |
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private: |
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void initSearchActions(); |
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void updateConfiguration(); |
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double sliderToLength(int v) const; |
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int lengthToSlider(double l) const; |
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double timeToLength(double time) const; |
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int timeBetweenRefresh() const; |
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::Ui::PathPlayerWidget* ui_; |
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QDoubleSpinBox* timeSpinBox() const; |
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QSpinBox* pathIndex() const; |
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QSlider* pathSlider() const; |
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QPushButton* playPause() const; |
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QPushButton* stop() const; |
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double pathLength_; |
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double currentParam_; |
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int timerId_; |
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bool velocity_; |
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HppWidgetsPlugin* plugin_; |
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}; |
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} // namespace gui |
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} // namespace hpp |
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#endif // HPP_GUI_PATHPLAYER_HH |
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