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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_SOLVERWIDGET_HH |
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#define HPP_GUI_SOLVERWIDGET_HH |
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#include <QWidget> |
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#include "gepetto/gui/fwd.hh" |
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#include "hppwidgetsplugin/hppwidgetsplugin.hh" |
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class QComboBox; |
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class QDoubleSpinBox; |
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namespace Ui { |
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class SolverWidget; |
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} |
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namespace hpp { |
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namespace gui { |
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class SolverWidget : public QWidget { |
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✗ |
Q_OBJECT |
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public: |
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enum Select { |
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Planner, |
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Optimizer, |
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Projector, |
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Validation, |
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SteeringMethod, |
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All |
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}; |
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SolverWidget(HppWidgetsPlugin* plugin, QWidget* parent = 0); |
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~SolverWidget(); |
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public slots: |
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/// Update the field in the widget. |
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/// \param s which field to update |
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virtual void update(Select s = All); |
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signals: |
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void problemSolved(); |
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protected slots: |
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/// Change the path planner use in hpp. |
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/// \param text name of the path planner |
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void selectPathPlanner(const QString& text); |
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/// Change the path Optimizers in hpp. |
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/// \param list list of path optimizers |
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void selectPathOptimizers(const QStringList& list); |
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void openPathOptimizerSelector(); |
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/// Change the path projector in hpp. |
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/// \param name name of the path projector |
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void selectPathProjector(const QString& name); |
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/// Change the path validation in hpp. |
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/// \param name name of the path validation |
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void selectPathValidation(const QString& name); |
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/// Change the steering method in hpp. |
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/// \param name name of the path projector |
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void selectSteeringMethod(const QString& name); |
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/// Change the allowed discontinuity in hpp |
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/// \param value new value of discontinuity |
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void discontinuityChanged(double value); |
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/// Change the allowed penetration in hpp |
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/// \param value new value of penetration |
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void penetrationChanged(double value); |
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/// Ask hpp to solve the problem. |
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void solve(); |
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/// Ask hpp to solve the problem and display the roadmap of the joint |
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/// selected in the joint tree. |
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void solveAndDisplay(); |
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/// Interrupt the solver. |
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void interrupt(); |
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/// Load a roadmap in hpp. |
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void loadRoadmap(); |
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/// Save the roadmap from hpp. |
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void saveRoadmap(); |
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/// Reset the roadmap in hpp. |
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void clearRoadmap(); |
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/// Optimize the path currently selected in PathPlayer widget. |
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void optimizePath(); |
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void solveDone(); |
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private: |
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struct Solve { |
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bool interrupt, stepByStep, isSolved; |
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QFuture<void> status; |
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QFutureWatcher<void> watcher; |
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HppWidgetsPlugin* plugin; |
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SolverWidget* parent; |
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void solve(); |
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void optimize(const int pathId); |
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void solveAndDisplay(); |
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bool done(); |
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Solve(HppWidgetsPlugin* p, SolverWidget* par) |
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: interrupt(false), |
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stepByStep(false), |
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isSolved(false), |
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plugin(p), |
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parent(par) {} |
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}; |
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void setSelected(QComboBox* cb, QString const& what); |
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void selectButtonSolve(bool solve); |
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QComboBox* planner(); |
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QComboBox* projector(); |
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QComboBox* validation(); |
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QComboBox* steeringMethod(); |
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QDoubleSpinBox* projectorDiscontinuity(); |
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QDoubleSpinBox* validationPenetration(); |
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::Ui::SolverWidget* ui_; |
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HppWidgetsPlugin* plugin_; |
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gepetto::gui::MainWindow* main_; |
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QStringList optimizers_; |
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Solve solve_; |
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friend struct Solve; |
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}; |
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} // namespace gui |
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} // namespace hpp |
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#endif // HPP_GUI_SOLVERWIDGET_HH |
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