moveit_task_constructor/visualization/motion_planning_tasks/task_panel.h
2017-11-12 06:59:34 +01:00

78 lines
2.8 KiB
C++

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/* Author: Robert Haschke
Desc: Monitor manipulation tasks and visualize their solutions
*/
#pragma once
#include <rviz/panel.h>
#include <moveit/macros/class_forward.h>
namespace moveit_rviz_plugin {
class TaskSolutionVisualization;
MOVEIT_CLASS_FORWARD(TaskListModel)
typedef std::weak_ptr<TaskListModel> TaskListModelWeakPtr;
/** The TaskPanel displays information about manipulation tasks in the system.
*
* Subscribing to task_monitoring and task_solution topics, it collects information
* about running tasks and their solutions and allows to inspect both,
* successful solutions and failed solution attempts.
*/
class TaskPanelPrivate;
class TaskPanel: public rviz::Panel
{
Q_OBJECT
Q_DECLARE_PRIVATE(TaskPanel)
TaskPanelPrivate *d_ptr;
public:
TaskPanel(QWidget* parent = 0);
~TaskPanel();
void onInitialize() override;
void load(const rviz::Config& config) override;
void save(rviz::Config config) const override;
public Q_SLOTS:
void addTask();
void showStageDockWidget();
void removeTaskTreeRows();
};
}