TCPMover.h

Go to the documentation of this file.

/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
/** ArmarX headers **/
#include "TCPMoverConfigDialog.h"
 
// ArmarX includes
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include <RobotAPI/interface/units/TCPMoverUnitInterface.h>
 
/** VirtualRobot headers **/
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
 
// C++ includes
#include <memory>
 
// Qt includes
#include <QDialog>
 
#define KINEMATIC_UNIT_FILE_DEFAULT                                                                \
    armarx::ArmarXDataPath::getHomePath() + std::string("Armar4/ARMAR_IV_simox.xml")
#define KINEMATIC_UNIT_NAME_DEFAULT "RobotKinematicUnit"
 
 
class QDialogButtonBox;
 
// ui_TCPMover.h is included by TCPMover.cpp, not here: moc textually inlines every
// #include it can resolve, so parsing the uic-generated header alongside this one made
// moc emit this class as Ui::armarx::TCPMover.
namespace Ui
{
    class TCPMover;
}
 
namespace armarx
{
 
    /*class TCPMoverConfigDialog : public QDialog
    {
        Q_OBJECT
 
    public:
        TCPMoverConfigDialog(QWidget *parent = 0);
 
        friend class TCPMover;
    protected:
        QGridLayout *layout;
        //QLabel *label;
        //QLineEdit *editTCPMoverUnitName;
        IceProxyFinderBase* proxyFinder;
        QDialogButtonBox *buttonBox;
 
        void setupUI(QWidget *parent);
    };*/
 
 
    /**
     * \page RobotAPI-GuiPlugins-TCPMover TCPMoverPlugin
     * @brief The TCPMover widget allows direct control of a TCP.
     *
     * \image html TCPMoverGUI.png
     */
    class TCPMover : public ArmarXComponentWidgetControllerTemplate<TCPMover>
    {
        Q_OBJECT
 
    public:
        TCPMover();
        ~TCPMover() override;
        //inherited from ArmarXMdiWidget
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
 
        static QString
        GetWidgetName()
        {
            return "RobotControl.TCPMover";
        }
 
        static QIcon
        GetWidgetIcon()
        {
            return QIcon("://icons/games.ico");
        }
 
        static QIcon
        GetWidgetCategoryIcon()
        {
            return QIcon("://icons/games.ico");
        }
 
        QPointer<QDialog> getConfigDialog(QWidget* parent = 0) override;
        void configured() override;
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onExitComponent() override;
 
 
    public slots:
        void moveUp();
        void moveDown();
        void moveZUp();
        void moveZDown();
        void moveLeft();
        void moveRight();
        void increaseAlpha();
        void decreaseAlpha();
        void increaseBeta();
        void decreaseBeta();
        void increaseGamma();
        void decreaseGamma();
        void stopMoving();
        void reset();
        void robotControl(bool request);
        void selectHand(int index);
    signals:
 
    protected:
        void execMove();
 
        void moveRelative(float x, float y, float z);
        std::map<std::string, std::vector<float>> tcpData;
        std::string selectedTCP;
        std::string refFrame;
        //        float velocities[2][3];
        //        float orientation[2][3];
        NameValueMap velocityMap;
        bool robotRequested;
        VirtualRobot::RobotNodeSetPtr tcpNodeSet;
        std::string tcpNodeSetName;
        VirtualRobot::DifferentialIKPtr ik;
        std::unique_ptr<Ui::TCPMover> ui;
        std::string kinematicUnitName;
        std::string kinematicUnitFile;
        std::string tcpMoverUnitName;
        VirtualRobot::RobotPtr robot;
        TCPControlUnitInterfacePrx tcpMoverUnitPrx;
        RobotStateComponentInterfacePrx robotStateComponentPrx;
        SharedRobotInterfacePrx robotPrx;
        QPointer<TCPMoverConfigDialog> configDialog;
    };
} // namespace armarx