121 lines
3.4 KiB
C++
121 lines
3.4 KiB
C++
/*
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* Copyright (C) 2015 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_PRIVATE_HH_
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#define _GAZEBO_GUI_JOINTCONTROLWIDGET_PRIVATE_HH_
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#include <map>
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#include <string>
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#include "gazebo/gui/qt.h"
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#include "gazebo/transport/TransportTypes.hh"
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namespace gazebo
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{
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namespace gui
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{
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class JointForceControl;
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class JointPIDPosControl;
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class JointPIDVelControl;
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/// \brief Private data for the JointControlWidget class.
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class JointControlWidgetPrivate
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{
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/// \brief Node for coomunication.
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public: transport::NodePtr node;
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/// \brief Publisher for joint messages.
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public: transport::PublisherPtr jointPub;
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/// \brief Sliders for force control
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public: std::map<std::string, JointForceControl *> sliders;
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/// \brief Sliders for position control
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public: std::map<std::string, JointPIDPosControl *> pidPosSliders;
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/// \brief Sliders for velocity control
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public: std::map<std::string, JointPIDVelControl *> pidVelSliders;
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/// \brief Label for the name of the current model being controlled.
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public: QLabel *modelLabel;
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/// \brief Tab widget for all the types of join control.
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public: QTabWidget *tabWidget;
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/// \brief Layout for the force controls.
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public: QGridLayout *forceGridLayout;
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/// \brief Layout for the position controls.
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public: QGridLayout *positionGridLayout;
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/// \brief Layout for the velocity controls.
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public: QGridLayout *velocityGridLayout;
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};
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/// \brief Private data for the JointForceControl class.
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class JointForceControlPrivate
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{
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/// \brief Name of the joint.
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public: std::string name;
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/// \brief Joint force slider.
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public: QDoubleSpinBox *forceSpin;
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};
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/// \brief Private data for the JointPIDPosControl class.
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class JointPIDPosControlPrivate
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{
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/// \brief Slider for the position.
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public: QDoubleSpinBox *posSpin;
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/// \brief Sliders for the P gain.
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public: QDoubleSpinBox *pGainSpin;
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/// \brief Sliders for the I gain.
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public: QDoubleSpinBox *iGainSpin;
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/// \brief Sliders for the D gain.
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public: QDoubleSpinBox *dGainSpin;
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/// \brief Name of the joint.
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public: std::string name;
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/// \brief True if the units are radians.
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public: bool radians;
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};
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/// \brief Private data for the JointPIDVelControl class.
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class JointPIDVelControlPrivate
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{
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/// \brief Slider for the position.
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public: QDoubleSpinBox *posSpin;
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/// \brief Sliders for the P gain.
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public: QDoubleSpinBox *pGainSpin;
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/// \brief Sliders for the I gain.
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public: QDoubleSpinBox *iGainSpin;
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/// \brief Sliders for the D gain.
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public: QDoubleSpinBox *dGainSpin;
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/// \brief Name of the joint.
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public: std::string name;
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};
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}
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}
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#endif
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