322 lines
12 KiB
C++
322 lines
12 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_GUI_JOINTCONTROLWIDGET_HH_
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#define _GAZEBO_GUI_JOINTCONTROLWIDGET_HH_
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#include <memory>
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#include <string>
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#include "gazebo/gui/qt.h"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace msgs
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{
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class Model;
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}
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namespace gui
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{
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class JointControlWidgetPrivate;
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class JointForceControl;
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class JointForceControlPrivate;
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class JointPIDPosControl;
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class JointPIDPosControlPrivate;
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class JointPIDVelControl;
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class JointPIDVelControlPrivate;
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/// \class JointControlWidget JointControlWidget
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/// gui/JointControlWidget.hh
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/// \brief Widget to control joints via application of force, position
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/// PID controller, or velocity PID controller.
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class GZ_GUI_VISIBLE JointControlWidget : public QWidget
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{
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Q_OBJECT
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/// \brief Constructor.
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/// \param[in] _parent Pointer to the parent of the widget.
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public: JointControlWidget(QWidget *_parent = 0);
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/// \brief Destructor.
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public: virtual ~JointControlWidget();
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/// \brief Set the name of the model to control.
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/// \param[in] _modelName Name of the model.
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public: void SetModelName(const std::string &_modelName);
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/// \brief On reset callback.
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private slots: void OnReset();
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/// \brief On force changed callback.
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/// \param[in] _value Value of the force.
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/// \param[in] _name Name of the joint.
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private slots: void OnForceChanged(double _value,
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const std::string &_name);
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/// \brief On position PID changed callback.
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/// \param[in] _value Value of the position.
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/// \param[in] _name Name of the joint.
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private slots: void OnPIDPosChanged(double _value,
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const std::string &_name);
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/// \brief On position PID P gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnPPosGainChanged(double _value,
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const std::string &_name);
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/// \brief On position PID D gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnDPosGainChanged(double _value,
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const std::string &_name);
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/// \brief On position PID I gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnIPosGainChanged(double _value,
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const std::string &_name);
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/// \brief On velocity PID changed callback.
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/// \param[in] _value Value of the velocity.
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/// \param[in] _name Name of the joint.
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private slots: void OnPIDVelChanged(double _value,
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const std::string &_name);
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/// \brief On velocity PID P gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnPVelGainChanged(double _value,
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const std::string &_name);
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/// \brief On velocity PID D gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnDVelGainChanged(double _value,
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const std::string &_name);
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/// \brief On velocity PID I gain changed callback.
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/// \param[in] _value Value of the gain.
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/// \param[in] _name Name of the joint.
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private slots: void OnIVelGainChanged(double _value,
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const std::string &_name);
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/// \brief On position PID units changed callback.
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/// \param[in] _index Index into the drop-down menu.
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private slots: void OnPIDPosUnitsChanged(int _index);
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/// \brief Add a tab widget with a scrollable area.
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/// \param[in] _tabPane Tab pane that will have all the controls.
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/// \param[in] _tabLayout Layout for the controls in the tab.
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/// \param[in] _name Name of the tab.
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private: void AddScrollTab(QTabWidget *_tabPane,
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QGridLayout *_tabLayout,
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const QString &_name);
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/// \brief Layout the force tab.
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/// \param[in] _modelMsg Message used to create the joint controls
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private: void LayoutForceTab(msgs::Model &_modelMsg);
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/// \brief Layout the position PID tab.
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/// \param[in] _modelMsg Message used to create the joint controls
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private: void LayoutPositionTab(msgs::Model &_modelMsg);
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/// \brief Layout the velocity PID tab.
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/// \param[in] _modelMsg Message used to create the joint controls
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private: void LayoutVelocityTab(msgs::Model &_modelMsg);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointControlWidgetPrivate> dataPtr;
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};
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/// \class JointForceControl JointForceControl gui/JointForceControl.hh
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/// \brief Widget to control joints via application of force
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class GZ_GUI_VISIBLE JointForceControl : public QWidget
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{
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Q_OBJECT
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/// \brief Constructor.
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/// \param[in] _name Name of the joint.
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/// \param[in] _layout Layout to add the control to.
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/// \param[in] _parent Parent of the widget.
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/// \param[in] _index Row index into the grid layout.
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public: JointForceControl(const std::string &_name,
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QGridLayout *_layout, QWidget *_parent, int _index);
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/// \brief Destructor.
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public: virtual ~JointForceControl();
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/// \brief Reset the controls.
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public: void Reset();
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/// \brief On force changed callback.
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/// \param[in] _value Value of the changed slider.
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public slots: void OnChanged(double _value);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void changed(double _value, const std::string &_name);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointForceControlPrivate> dataPtr;
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};
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/// \class JointPIDPosControl JointPIDPosControlgui/JointPIDPosControl.hh
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/// \brief Widget to control joints via application of position
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/// PID controller.
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class GZ_GUI_VISIBLE JointPIDPosControl : public QWidget
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{
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Q_OBJECT
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/// \brief Constructor.
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/// \param[in] _name Name of the joint.
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/// \param[in] _layout Layout to add the control to.
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/// \param[in] _parent Parent of the widget.
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/// \param[in] _index Row index into the grid layout.
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public: JointPIDPosControl(const std::string &_name,
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QGridLayout *_layout, QWidget *_parent, int _index);
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/// \brief Destructor.
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public: virtual ~JointPIDPosControl();
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/// \brief Reset the controls.
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public: void Reset();
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/// \brief Set the units to radians.
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public: void SetToRadians();
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/// \brief Set the units to degrees.
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public: void SetToDegrees();
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/// \brief Callback when the value of position slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnChanged(double _value);
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/// \brief Callback when the value of P gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnPChanged(double _value);
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/// \brief Callback when the value of I gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnIChanged(double _value);
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/// \brief Callback when the value of D gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnDChanged(double _value);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void changed(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void pChanged(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void dChanged(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void iChanged(double _value, const std::string &_name);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointPIDPosControlPrivate> dataPtr;
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};
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/// \class JointPIDVelControl JointPIDVelControl gui/JointPIDVelControl.hh
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/// \brief Widget to control joints via application of a
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/// velocity PID controller.
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class GZ_GUI_VISIBLE JointPIDVelControl : public QWidget
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{
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Q_OBJECT
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/// \brief Constructor.
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/// \param[in] _name Name of the joint.
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/// \param[in] _layout Layout to add the control to.
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/// \param[in] _parent Parent of the widget.
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/// \param[in] _index Row index into the grid layout.
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public: JointPIDVelControl(const std::string &_name,
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QGridLayout *_layout, QWidget *_parent, int _index);
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/// \brief Destructor.
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public: virtual ~JointPIDVelControl();
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/// \brief Reset the controls.
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public: void Reset();
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/// \brief Callback when the value of velocity slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnChanged(double _value);
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/// \brief Callback when the value of P gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnPChanged(double _value);
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/// \brief Callback when the value of I gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnIChanged(double _value);
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/// \brief Callback when the value of D gain slider changed.
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/// \param[in] _value Value of the slider.
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public slots: void OnDChanged(double _value);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void changed(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void pChanged(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void dChanged(double _value, const std::string &_name);
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/// \brief QT changed signal, used to report the change to the joint
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/// controller widget.
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/// \param[in] _value Value of the slider.
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/// \param[in] _name Name of the joint.
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Q_SIGNALS: void iChanged(double _value, const std::string &_name);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointPIDVelControlPrivate> dataPtr;
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};
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}
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}
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#endif
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