abstractspace.h

// Widget to edit joints in Abstract Space
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef ABSTRACTSPACE_H
#define ABSTRACTSPACE_H

#include <QLabel>
#include <QGridLayout>

#include <gait/util/gait_abstract_pose.h>
#include <boost/shared_ptr.hpp>

#include <motion_file/poseconverter.h>
#include <trajectory_editor/spaces/rateangleview.h>
#include <trajectory_editor/spaces/basicspace.h>

class AbstractSpace : public BasicSpace
{
Q_OBJECT
public:
    AbstractSpace(const std::vector<std::string> &jointList, QWidget *parent = 0);
    ~AbstractSpace();
    
public Q_SLOTS:
    void handlePerspectiveUpdate(const joint_perspective::JointPerspective &perspective);
    
private Q_SLOTS:
    void handleRateChanged(std::string jointName);
    void handleChangeForInverse(const std::string joint_name, const RateAngleView::Field field, const double value);
    
private:
    void initViews();
    void updateFrame();
    
    void updateRate(double rate, std::string jointName);
    void updateRateFromUI(std::string name, double rate);
    
    // Find joint jointName in jointList and create view for it. Put it on layout
    // If jointName was not found, put warning on layout
    void findAndPutView(std::string jointName, std::string label, int row
    , RateAngleView::Alignment alignment, RateAngleView::Type type, bool shiftMirrored);
    
    void createHeaderLabels(RateAngleView::Alignment alignment, int row);
    
private:
    gait::AbstractPose *abstractPose;
    
    std::vector<RateAngleView*> jointViews;
    QGridLayout *jointsLayout;
    
    motionfile::PoseConverter p;
};

#endif // ABSTRACTSPACE_H