mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
icons to visualize logic flow
This commit is contained in:
parent
d731e943f1
commit
1f6bea9438
@ -8,6 +8,7 @@ qt_wrap_ui(UIC_FILES
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add_library(${MOVEIT_LIB_NAME}
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add_library(${MOVEIT_LIB_NAME}
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factory_model.cpp
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factory_model.cpp
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icons.cpp
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job_queue.cpp
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job_queue.cpp
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local_task_model.cpp
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local_task_model.cpp
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meta_task_list_model.cpp
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meta_task_list_model.cpp
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19
visualization/motion_planning_tasks/src/icons.cpp
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19
visualization/motion_planning_tasks/src/icons.cpp
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@ -0,0 +1,19 @@
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#include "icons.h"
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#include <QColor>
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using namespace moveit_rviz_plugin::utils;
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namespace moveit_rviz_plugin { namespace icons {
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const Icon CONNECT({
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{QLatin1String(":icons/connectarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
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const Icon FORWARD({
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{QLatin1String(":icons/downarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
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const Icon BACKWARD({
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{QLatin1String(":icons/uparrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
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const Icon BOTHWAY({
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{QLatin1String(":icons/updownarrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
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const Icon GENERATE({
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{QLatin1String(":icons/generatearrow.png"), QColor::fromRgba(0xff000000)}}, Icon::Tint);
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} }
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13
visualization/motion_planning_tasks/src/icons.h
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13
visualization/motion_planning_tasks/src/icons.h
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@ -0,0 +1,13 @@
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#pragma once
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#include <utils/icon.h>
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namespace moveit_rviz_plugin { namespace icons {
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extern const moveit_rviz_plugin::utils::Icon CONNECT;
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extern const moveit_rviz_plugin::utils::Icon FORWARD;
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extern const moveit_rviz_plugin::utils::Icon BACKWARD;
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extern const moveit_rviz_plugin::utils::Icon BOTHWAY;
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extern const moveit_rviz_plugin::utils::Icon GENERATE;
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} }
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BIN
visualization/motion_planning_tasks/src/icons/connectarrow.png
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BIN
visualization/motion_planning_tasks/src/icons/connectarrow.png
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Binary file not shown.
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After Width: | Height: | Size: 180 B |
BIN
visualization/motion_planning_tasks/src/icons/downarrow.png
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BIN
visualization/motion_planning_tasks/src/icons/downarrow.png
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Binary file not shown.
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After Width: | Height: | Size: 125 B |
BIN
visualization/motion_planning_tasks/src/icons/generatearrow.png
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BIN
visualization/motion_planning_tasks/src/icons/generatearrow.png
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Binary file not shown.
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After Width: | Height: | Size: 141 B |
BIN
visualization/motion_planning_tasks/src/icons/uparrow.png
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visualization/motion_planning_tasks/src/icons/uparrow.png
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Binary file not shown.
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After Width: | Height: | Size: 123 B |
BIN
visualization/motion_planning_tasks/src/icons/updownarrow.png
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BIN
visualization/motion_planning_tasks/src/icons/updownarrow.png
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Binary file not shown.
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After Width: | Height: | Size: 183 B |
@ -200,6 +200,10 @@ QVariant RemoteTaskModel::data(const QModelIndex &index, int role) const
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if (index.column() == 0 && !index.parent().isValid())
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if (index.column() == 0 && !index.parent().isValid())
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return (flags_ & IS_DESTROYED) ? QColor(Qt::red) : QApplication::palette().text().color();
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return (flags_ & IS_DESTROYED) ? QColor(Qt::red) : QApplication::palette().text().color();
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break;
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break;
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case Qt::DecorationRole:
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if (index.column() == 0 && index.parent().isValid())
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return flowIcon(n->interface_flags_);
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break;
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}
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}
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return BaseTaskModel::data(index, role);
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return BaseTaskModel::data(index, role);
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@ -6,5 +6,10 @@
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<file>icons/new-stage.png</file>
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<file>icons/new-stage.png</file>
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<file>icons/success.png</file>
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<file>icons/success.png</file>
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<file>icons/tasks.png</file>
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<file>icons/tasks.png</file>
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<file>icons/connectarrow.png</file>
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<file>icons/downarrow.png</file>
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<file>icons/generatearrow.png</file>
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<file>icons/uparrow.png</file>
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<file>icons/updownarrow.png</file>
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</qresource>
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</qresource>
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</RCC>
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</RCC>
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@ -38,6 +38,7 @@
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#include "local_task_model.h"
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#include "local_task_model.h"
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#include "remote_task_model.h"
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#include "remote_task_model.h"
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#include "factory_model.h"
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#include "factory_model.h"
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#include "icons.h"
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#include <ros/console.h>
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#include <ros/console.h>
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#include <ros/service_client.h>
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#include <ros/service_client.h>
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@ -48,6 +49,8 @@
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#include <qevent.h>
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#include <qevent.h>
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#include <numeric>
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#include <numeric>
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using namespace moveit::task_constructor;
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namespace moveit_rviz_plugin {
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namespace moveit_rviz_plugin {
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static const std::string LOGNAME("TaskListModel");
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static const std::string LOGNAME("TaskListModel");
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@ -109,6 +112,23 @@ Qt::ItemFlags BaseTaskModel::flags(const QModelIndex &index) const
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return flags;
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return flags;
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}
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}
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QVariant BaseTaskModel::flowIcon(moveit::task_constructor::InterfaceFlags f)
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{
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static const QIcon CONNECT_ICON = icons::CONNECT.icon();
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static const QIcon FORWARD_ICON = icons::FORWARD.icon();
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static const QIcon BACKWARD_ICON = icons::BACKWARD.icon();
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static const QIcon BOTHWAY_ICON = icons::BOTHWAY.icon();
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static const QIcon GENERATE_ICON = icons::GENERATE.icon();
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if (f == InterfaceFlags(CONNECT)) return CONNECT_ICON;
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if (f == InterfaceFlags(PROPAGATE_FORWARDS)) return FORWARD_ICON;
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if (f == InterfaceFlags(PROPAGATE_BACKWARDS)) return BACKWARD_ICON;
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if (f == PROPAGATE_BOTHWAYS) return BOTHWAY_ICON;
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if (f == InterfaceFlags(GENERATE)) return GENERATE_ICON;
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return QVariant();
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}
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StageFactoryPtr getStageFactory()
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StageFactoryPtr getStageFactory()
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{
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{
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@ -84,6 +84,7 @@ public:
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virtual void setStageFactory(const StageFactoryPtr &factory) {}
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virtual void setStageFactory(const StageFactoryPtr &factory) {}
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Qt::ItemFlags flags(const QModelIndex &index) const override;
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Qt::ItemFlags flags(const QModelIndex &index) const override;
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unsigned int taskFlags() const { return flags_; }
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unsigned int taskFlags() const { return flags_; }
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static QVariant flowIcon(moveit::task_constructor::InterfaceFlags f);
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/// get solution model for given stage index
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/// get solution model for given stage index
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virtual QAbstractItemModel* getSolutionModel(const QModelIndex& index) = 0;
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virtual QAbstractItemModel* getSolutionModel(const QModelIndex& index) = 0;
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@ -3,6 +3,7 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_utils)
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set(SOURCES
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set(SOURCES
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flat_merge_proxy_model.cpp
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flat_merge_proxy_model.cpp
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tree_merge_proxy_model.cpp
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tree_merge_proxy_model.cpp
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icon.cpp
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)
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)
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add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
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add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
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236
visualization/motion_planning_tasks/utils/icon.cpp
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236
visualization/motion_planning_tasks/utils/icon.cpp
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@ -0,0 +1,236 @@
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/****************************************************************************
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**
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** Copyright (C) 2016 The Qt Company Ltd.
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** Contact: https://www.qt.io/licensing/
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**
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** This file is adapted from Qt Creator (replacing theme stuff by QColor)
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**
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** Commercial License Usage
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** Licensees holding valid commercial Qt licenses may use this file in
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** accordance with the commercial license agreement provided with the
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** Software or, alternatively, in accordance with the terms contained in
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** a written agreement between you and The Qt Company. For licensing terms
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** and conditions see https://www.qt.io/terms-conditions. For further
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** information use the contact form at https://www.qt.io/contact-us.
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**
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** GNU General Public License Usage
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** Alternatively, this file may be used under the terms of the GNU
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** General Public License version 3 as published by the Free Software
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** Foundation with exceptions as appearing in the file LICENSE.GPL3-EXCEPT
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** included in the packaging of this file. Please review the following
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** information to ensure the GNU General Public License requirements will
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** be met: https://www.gnu.org/licenses/gpl-3.0.html.
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**
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****************************************************************************/
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#include "icon.h"
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#include <QApplication>
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#include <QIcon>
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#include <QImage>
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#include <QMetaEnum>
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#include <QPainter>
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#include <QPaintEngine>
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#include <QWidget>
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namespace moveit_rviz_plugin { namespace utils {
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static const qreal PunchEdgeWidth = 0.5;
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static const qreal PunchEdgeIntensity = 0.6;
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static QPixmap maskToColorAndAlpha(const QPixmap &mask, const QColor &color)
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{
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QImage result(mask.toImage().convertToFormat(QImage::Format_ARGB32));
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result.setDevicePixelRatio(mask.devicePixelRatio());
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QRgb *bitsStart = reinterpret_cast<QRgb*>(result.bits());
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const QRgb *bitsEnd = bitsStart + result.width() * result.height();
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const QRgb tint = color.rgb() & 0x00ffffff;
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const QRgb alpha = QRgb(color.alpha());
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for (QRgb *pixel = bitsStart; pixel < bitsEnd; ++pixel) {
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QRgb pixelAlpha = (((~*pixel) & 0xff) * alpha) >> 8;
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*pixel = (pixelAlpha << 24) | tint;
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}
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return QPixmap::fromImage(result);
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}
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typedef QPair<QPixmap, QColor> MaskAndColor;
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typedef QList<MaskAndColor> MasksAndColors;
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static MasksAndColors masksAndColors(const Icon &icon, int dpr)
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{
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MasksAndColors result;
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for (const IconMaskAndColor &i: icon) {
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const QString &fileName = i.first;
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const QColor color = i.second;
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result.append(qMakePair(QPixmap(fileName), color));
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}
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return result;
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}
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static void smearPixmap(QPainter *painter, const QPixmap &pixmap, qreal radius)
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{
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const qreal nagative = -radius - 0.01; // Workaround for QPainter rounding behavior
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const qreal positive = radius;
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painter->drawPixmap(QPointF(nagative, nagative), pixmap);
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painter->drawPixmap(QPointF(0, nagative), pixmap);
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painter->drawPixmap(QPointF(positive, nagative), pixmap);
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painter->drawPixmap(QPointF(positive, 0), pixmap);
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painter->drawPixmap(QPointF(positive, positive), pixmap);
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painter->drawPixmap(QPointF(0, positive), pixmap);
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painter->drawPixmap(QPointF(nagative, positive), pixmap);
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painter->drawPixmap(QPointF(nagative, 0), pixmap);
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}
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static QPixmap combinedMask(const MasksAndColors &masks, Icon::IconStyleOptions style)
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{
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if (masks.count() == 1)
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return masks.first().first;
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QPixmap result(masks.first().first);
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QPainter p(&result);
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p.setCompositionMode(QPainter::CompositionMode_Darken);
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auto maskImage = masks.constBegin();
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maskImage++;
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for (;maskImage != masks.constEnd(); ++maskImage) {
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if (style & Icon::PunchEdges) {
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p.save();
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p.setOpacity(PunchEdgeIntensity);
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p.setCompositionMode(QPainter::CompositionMode_Lighten);
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smearPixmap(&p, maskToColorAndAlpha((*maskImage).first, Qt::white), PunchEdgeWidth);
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p.restore();
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}
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p.drawPixmap(0, 0, (*maskImage).first);
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}
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p.end();
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return result;
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}
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static QPixmap masksToIcon(const MasksAndColors &masks, const QPixmap &combinedMask, Icon::IconStyleOptions style)
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{
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QPixmap result(combinedMask.size());
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result.setDevicePixelRatio(combinedMask.devicePixelRatio());
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result.fill(Qt::transparent);
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QPainter p(&result);
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for (MasksAndColors::const_iterator maskImage = masks.constBegin();
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maskImage != masks.constEnd(); ++maskImage) {
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if (style & Icon::PunchEdges && maskImage != masks.constBegin()) {
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// Punch a transparent outline around an overlay.
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p.save();
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p.setOpacity(PunchEdgeIntensity);
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p.setCompositionMode(QPainter::CompositionMode_DestinationOut);
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smearPixmap(&p, maskToColorAndAlpha((*maskImage).first, Qt::white), PunchEdgeWidth);
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p.restore();
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}
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p.drawPixmap(0, 0, maskToColorAndAlpha((*maskImage).first, (*maskImage).second));
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}
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if (style & Icon::DropShadow) {
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const QPixmap shadowMask = maskToColorAndAlpha(combinedMask, Qt::black);
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p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
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p.setOpacity(0.05);
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p.drawPixmap(QPointF(0, -0.501), shadowMask);
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p.drawPixmap(QPointF(-0.501, 0), shadowMask);
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p.drawPixmap(QPointF(0.5, 0), shadowMask);
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p.drawPixmap(QPointF(0.5, 0.5), shadowMask);
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p.drawPixmap(QPointF(-0.501, 0.5), shadowMask);
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p.setOpacity(0.2);
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p.drawPixmap(0, 1, shadowMask);
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}
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p.end();
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return result;
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}
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static QPixmap combinedPlainPixmaps(const QVector<IconMaskAndColor> &images)
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{
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QPixmap result(images.first().first);
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auto pixmap = images.constBegin();
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pixmap++;
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for (;pixmap != images.constEnd(); ++pixmap) {
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const QPixmap overlay((*pixmap).first);
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result.paintEngine()->painter()->drawPixmap(0, 0, overlay);
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}
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return result;
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}
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Icon::Icon()
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{
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}
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Icon::Icon(std::initializer_list<IconMaskAndColor> args, Icon::IconStyleOptions style)
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: QVector<IconMaskAndColor>(args)
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, m_style(style)
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{
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}
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Icon::Icon(const QString &imageFileName)
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: m_style(None)
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{
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append({imageFileName, QColor()});
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}
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QIcon Icon::icon() const
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{
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if (isEmpty()) {
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return QIcon();
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} else if (m_style == None) {
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return QIcon(combinedPlainPixmaps(*this));
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} else {
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QIcon result;
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const int maxDpr = qRound(qApp->devicePixelRatio());
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for (int dpr = 1; dpr <= maxDpr; dpr++) {
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const MasksAndColors masks = masksAndColors(*this, dpr);
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const QPixmap combined_mask = combinedMask(masks, m_style);
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result.addPixmap(masksToIcon(masks, combined_mask, m_style));
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const QColor disabledColor = QColor::fromRgba(0x60a4a6a8);
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result.addPixmap(maskToColorAndAlpha(combined_mask, disabledColor), QIcon::Disabled);
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}
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return result;
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}
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}
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QPixmap Icon::pixmap() const
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{
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|
if (isEmpty()) {
|
||||||
|
return QPixmap();
|
||||||
|
} else if (m_style == None) {
|
||||||
|
return combinedPlainPixmaps(*this);
|
||||||
|
} else {
|
||||||
|
const MasksAndColors masks =
|
||||||
|
masksAndColors(*this, qRound(qApp->devicePixelRatio()));
|
||||||
|
const QPixmap combined_mask = combinedMask(masks, m_style);
|
||||||
|
return masksToIcon(masks, combined_mask, m_style);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
QString Icon::imageFileName() const
|
||||||
|
{
|
||||||
|
return first().first;
|
||||||
|
}
|
||||||
|
|
||||||
|
QIcon Icon::sideBarIcon(const Icon &classic, const Icon &flat)
|
||||||
|
{
|
||||||
|
return flat.icon();
|
||||||
|
}
|
||||||
|
|
||||||
|
QIcon Icon::modeIcon(const Icon &classic, const Icon &flat, const Icon &flatActive)
|
||||||
|
{
|
||||||
|
QIcon result = sideBarIcon(classic, flat);
|
||||||
|
result.addPixmap(flatActive.pixmap(), QIcon::Active);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
QIcon Icon::combinedIcon(const QList<QIcon> &icons)
|
||||||
|
{
|
||||||
|
QIcon result;
|
||||||
|
QWindow *window = QApplication::allWidgets().first()->windowHandle();
|
||||||
|
for (const QIcon &icon: icons)
|
||||||
|
for (const QIcon::Mode mode: {QIcon::Disabled, QIcon::Normal})
|
||||||
|
for (const QSize &size: icon.availableSizes(mode))
|
||||||
|
result.addPixmap(icon.pixmap(window, size, mode), mode);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
} }
|
||||||
85
visualization/motion_planning_tasks/utils/icon.h
Normal file
85
visualization/motion_planning_tasks/utils/icon.h
Normal file
@ -0,0 +1,85 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
**
|
||||||
|
** Copyright (C) 2016 The Qt Company Ltd.
|
||||||
|
** Contact: https://www.qt.io/licensing/
|
||||||
|
**
|
||||||
|
** This file is adapted from Qt Creator (replacing theme stuff by QColor)
|
||||||
|
**
|
||||||
|
** Commercial License Usage
|
||||||
|
** Licensees holding valid commercial Qt licenses may use this file in
|
||||||
|
** accordance with the commercial license agreement provided with the
|
||||||
|
** Software or, alternatively, in accordance with the terms contained in
|
||||||
|
** a written agreement between you and The Qt Company. For licensing terms
|
||||||
|
** and conditions see https://www.qt.io/terms-conditions. For further
|
||||||
|
** information use the contact form at https://www.qt.io/contact-us.
|
||||||
|
**
|
||||||
|
** GNU General Public License Usage
|
||||||
|
** Alternatively, this file may be used under the terms of the GNU
|
||||||
|
** General Public License version 3 as published by the Free Software
|
||||||
|
** Foundation with exceptions as appearing in the file LICENSE.GPL3-EXCEPT
|
||||||
|
** included in the packaging of this file. Please review the following
|
||||||
|
** information to ensure the GNU General Public License requirements will
|
||||||
|
** be met: https://www.gnu.org/licenses/gpl-3.0.html.
|
||||||
|
**
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <QPair>
|
||||||
|
#include <QVector>
|
||||||
|
|
||||||
|
class QColor;
|
||||||
|
class QIcon;
|
||||||
|
class QPixmap;
|
||||||
|
class QString;
|
||||||
|
|
||||||
|
namespace moveit_rviz_plugin { namespace utils {
|
||||||
|
|
||||||
|
typedef QPair<QString, QColor> IconMaskAndColor;
|
||||||
|
|
||||||
|
// Returns a recolored icon with shadow and custom disabled state for a
|
||||||
|
// series of grayscalemask|Theme::Color mask pairs
|
||||||
|
class Icon : public QVector<IconMaskAndColor>
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
enum IconStyleOption {
|
||||||
|
None = 0,
|
||||||
|
Tint = 1,
|
||||||
|
DropShadow = 2,
|
||||||
|
PunchEdges = 4,
|
||||||
|
|
||||||
|
ToolBarStyle = Tint | DropShadow | PunchEdges,
|
||||||
|
MenuTintedStyle = Tint | PunchEdges
|
||||||
|
};
|
||||||
|
|
||||||
|
Q_DECLARE_FLAGS(IconStyleOptions, IconStyleOption)
|
||||||
|
|
||||||
|
Icon();
|
||||||
|
Icon(std::initializer_list<IconMaskAndColor> args, IconStyleOptions style = ToolBarStyle);
|
||||||
|
Icon(const QString &imageFileName);
|
||||||
|
Icon(const Icon &other) = default;
|
||||||
|
|
||||||
|
QIcon icon() const;
|
||||||
|
// Same as icon() but without disabled state.
|
||||||
|
QPixmap pixmap() const;
|
||||||
|
|
||||||
|
// Try to avoid it. it is just there for special API cases in Qt Creator
|
||||||
|
// where icons are still defined as filename.
|
||||||
|
QString imageFileName() const;
|
||||||
|
|
||||||
|
// Returns either the classic or a themed icon depending on
|
||||||
|
// the current Theme::FlatModeIcons flag.
|
||||||
|
static QIcon sideBarIcon(const Icon &classic, const Icon &flat);
|
||||||
|
// Like sideBarIcon plus added action mode for the flat icon
|
||||||
|
static QIcon modeIcon(const Icon &classic, const Icon &flat, const Icon &flatActive);
|
||||||
|
|
||||||
|
// Combined icon pixmaps in Normal and Disabled states from several QIcons
|
||||||
|
static QIcon combinedIcon(const QList<QIcon> &icons);
|
||||||
|
|
||||||
|
private:
|
||||||
|
IconStyleOptions m_style = None;
|
||||||
|
};
|
||||||
|
|
||||||
|
} }
|
||||||
|
|
||||||
|
Q_DECLARE_OPERATORS_FOR_FLAGS(moveit_rviz_plugin::utils::Icon::IconStyleOptions)
|
||||||
Loading…
Reference in New Issue
Block a user