posveleffview.h

#ifndef POSVELEFFVIEW_H
#define POSVELEFFVIEW_H

// Widget to edit position, velocity and effort of certain joint
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#include <QWidget>
#include <QSpinBox>
#include <QSlider>

#include <trajectory_editor/historykeeper.h>
#include <trajectory_editor/spaces/basicsmallview.h>

class PosVelEffView : public BasicSmallView
{
    Q_OBJECT
public:
    
    enum Field
    {
        POSITION,
        EFFORT,
        VELOCITY
    };
    
    PosVelEffView(BasicSmallView::Alignment alignment, BasicSmallView::Type type, std::string jointName, bool shiftMirrored, QWidget *parent = 0);
    ~PosVelEffView();
    
    void setField(PosVelEffView::Field field, double value);
    void setEffort(double effort);
    void setVelocity(double velocity);
    void setPosition(double rate);
    
    double getPosition();
    double getEffort();
    double getVelocity();
    
    void clearHistoryOfChanges();
    
Q_SIGNALS:
    void fieldChanged(PosVelEffView::Field, std::string jointName);
    void changeForInverse(std::string inverse_joint_name, PosVelEffView::Field field, double value);
    
private Q_SLOTS:
    void positionSliderChanged();
    void positionSpinChanged();
    
    void handleEffortChanged();
    void handleVelocityChanged();
    
private:
    QSlider        *positionSlider;
    QDoubleSpinBox *positionSpin;
    QDoubleSpinBox *effortSpin;
    QDoubleSpinBox *velocitySpin;
    
    HistoryKeeper *effortHistory;
    HistoryKeeper *positionHistory;
    HistoryKeeper *velocityHistory;
};

#endif // POSVELEFFVIEW_H