ObjectPoseGuiWidgetController.h

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/*
 * 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    RobotAPI::gui-plugins::ObjectPoseGuiWidgetController
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
 
// C++ includes
#include <memory>
 
// ui_ObjectPoseGuiWidget.h is included by the .cpp, not here: moc textually inlines every
// #include it can resolve, and parsing the uic-generated header alongside this one
// makes moc mis-qualify this class as Ui::armarx::*.
namespace Ui
{
    class ObjectPoseGuiWidget;
}
 
namespace armarx
{
    /**
    @page RobotAPI-GuiPlugins-ObjectPoseGui ObjectPoseGui
    @brief The ObjectPoseGui allows visualizing ...
 
    @image html ObjectPoseGui.png
    The user can
 
    API Documentation @ref ObjectPoseGuiWidgetController
 
    @see ObjectPoseGuiGuiPlugin
    */
 
    /**
     * @class ObjectPoseGuiWidgetController
     * @brief ObjectPoseGuiWidgetController brief one line description
     *
     * Detailed description
     */
    class ARMARXCOMPONENT_IMPORT_EXPORT ObjectPoseGuiWidgetController :
        public armarx::ArmarXComponentWidgetControllerTemplate<ObjectPoseGuiWidgetController>
    {
        Q_OBJECT
 
    public:
        /// Controller Constructor
        explicit ObjectPoseGuiWidgetController();
 
        /// Controller destructor
        virtual ~ObjectPoseGuiWidgetController() override;
 
        /// Returns the Widget name displayed in the ArmarXGui to create an instance of this class.
        static QString GetWidgetName();
 
        /// @see ArmarXWidgetController::loadSettings()
        void loadSettings(QSettings* settings) override;
        /// @see ArmarXWidgetController::saveSettings()
        void saveSettings(QSettings* settings) override;
 
 
        QPointer<QDialog> getConfigDialog(QWidget* parent) override;
        void configured() override;
 
 
        /// @see armarx::Component::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::Component::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::Component::onConnectComponent()
        void onDisconnectComponent() override;
 
 
    public slots:
        /* QT slot declarations */
 
        /// Update the currently opened tab.
        void updateTab();
        void updateObjectsTab();
        void updateRequestTab();
 
        void prepareObjectContextMenu(const QPoint& pos);
        void attachObjectToRobotNode(QString providerName,
                                     QString objectID,
                                     const std::string& agentName,
                                     const std::string& frameName);
        void detachObjectFromRobotNode(QString providerName, QString objectID);
        void detachAllObjectsFromRobotNodes(bool commitAttachedPose);
 
        void requestSelectedObjects();
 
 
    signals:
        /* QT signal declarations */
 
    private:
        /// Widget Form
        std::unique_ptr<Ui::ObjectPoseGuiWidget> widget;
 
        QPointer<SimpleConfigDialog> configDialog;
 
        std::string objectPoseStorageName;
        armarx::objpose::ObjectPoseStorageInterfacePrx ObjectPoseStorage;
 
        objpose::AgentFramesSeq attachableFrames;
    };
} // namespace armarx