jointdisplay.h

// Displays joints of loaded frame
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef JOINTDISPLAY_H
#define JOINTDISPLAY_H

#include <QGridLayout>
#include <QLabel>

#include <trajectory_editor/spaces/posveleffview.h>
#include <trajectory_editor/spaces/basicspace.h>

// TODO: rename to JointSpace
class JointManager : public BasicSpace
{
Q_OBJECT
public:
    JointManager(const std::vector<std::string> &modelJointList, QWidget *parent = 0);
    ~JointManager(){};
    
    void unsetFrame();

public Q_SLOTS:
    void handleFieldChanged(PosVelEffView::Field, std::string jointName);
    void handleChangeForInverse(std::string jointName, PosVelEffView::Field field, double value);
    
    void handlePerspectiveUpdate(const joint_perspective::JointPerspective &perspective);

private:
    void updateFrame();
    void initGUI(const joint_perspective::JointPerspective &perspective);
    
    // 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, BasicSmallView::Alignment alignment, BasicSmallView::Type type, bool shiftMirrored);
    void createHeaderLabels(BasicSmallView::Alignment alignment, int row);
    
private:
    std::vector<PosVelEffView*> jointViews;
    QGridLayout *jointsLayout;
};


#endif