rt100controlForm.h

00001 /****************************************************************************
00002 ** Form interface generated from reading ui file 'Qt/rt100controlForm.ui'
00003 **
00004 **
00005 ** WARNING! All changes made in this file will be lost!
00006 ****************************************************************************/
00007 
00008 #ifndef RT100CONTROLFORM_H
00009 #define RT100CONTROLFORM_H
00010 
00011 #include <qvariant.h>
00012 #include <qdialog.h>
00013 #include "Component/ModelManager.H"
00014 #include "Devices/rt100.H"
00015 
00016 class QVBoxLayout;
00017 class QHBoxLayout;
00018 class QGridLayout;
00019 class QSpacerItem;
00020 class QGroupBox;
00021 class QLabel;
00022 class QSpinBox;
00023 class QCheckBox;
00024 class QPushButton;
00025 class QRadioButton;
00026 class QLineEdit;
00027 
00028 class RT100ControlForm : public QDialog
00029 {
00030     Q_OBJECT
00031 
00032 public:
00033     RT100ControlForm( QWidget* parent = 0, const char* name = 0, bool modal = FALSE, WFlags fl = 0 );
00034     ~RT100ControlForm();
00035 
00036     QGroupBox* groupBox1;
00037     QLabel* textLabel1;
00038     QSpinBox* zedVal;
00039     QLabel* textLabel1_2;
00040     QSpinBox* sholderVal;
00041     QLabel* textLabel1_3;
00042     QSpinBox* elbowVal;
00043     QLabel* textLabel1_4;
00044     QSpinBox* yawVal;
00045     QLabel* textLabel1_5;
00046     QSpinBox* wrist1Val;
00047     QLabel* textLabel1_6;
00048     QSpinBox* wrist2Val;
00049     QLabel* textLabel1_6_2;
00050     QSpinBox* gripperVal;
00051     QLabel* textLabel1_7;
00052     QSpinBox* wristTiltVal;
00053     QLabel* textLabel2_2;
00054     QSpinBox* wristRollVal;
00055     QCheckBox* moveMode;
00056     QPushButton* moveArmButton;
00057     QPushButton* getJointsPositionButton;
00058     QGroupBox* groupBox2;
00059     QLabel* textLabel1_8;
00060     QSpinBox* zedInterpolation;
00061     QLabel* textLabel1_2_3;
00062     QSpinBox* sholderInterpolation;
00063     QLabel* textLabel1_3_3;
00064     QSpinBox* elbowInterpolation;
00065     QLabel* textLabel1_4_3;
00066     QSpinBox* yawInterpolation;
00067     QLabel* textLabel1_5_3;
00068     QSpinBox* wrist1Interpolation;
00069     QLabel* textLabel1_6_4;
00070     QSpinBox* wrist2Interpolation;
00071     QLabel* textLabel1_6_2_3;
00072     QSpinBox* gripperInterpolation;
00073     QLabel* textLabel1_7_3;
00074     QSpinBox* wristTiltInterpolation;
00075     QLabel* textLabel2_2_3;
00076     QSpinBox* wristRollInterpolation;
00077     QPushButton* doInterpolationButton;
00078     QGroupBox* groupBox7;
00079     QLabel* textLabel2_3;
00080     QLabel* textLabel2_3_2;
00081     QLabel* textLabel2_3_3;
00082     QLabel* textLabel2_3_4;
00083     QLabel* textLabel1_9;
00084     QRadioButton* radioButton40;
00085     QRadioButton* radioButton40_2;
00086     QRadioButton* radioButton40_3;
00087     QRadioButton* radioButton40_4;
00088     QLabel* textLabel1_9_2;
00089     QRadioButton* radioButton40_5;
00090     QRadioButton* radioButton40_2_2;
00091     QRadioButton* radioButton40_3_2;
00092     QRadioButton* radioButton40_4_2;
00093     QLabel* textLabel1_9_3;
00094     QRadioButton* radioButton40_6;
00095     QRadioButton* radioButton40_2_3;
00096     QRadioButton* radioButton40_3_3;
00097     QRadioButton* radioButton40_4_3;
00098     QLabel* textLabel1_9_4;
00099     QRadioButton* radioButton40_7;
00100     QRadioButton* radioButton40_2_4;
00101     QRadioButton* radioButton40_3_4;
00102     QRadioButton* radioButton40_4_4;
00103     QLabel* textLabel1_9_5;
00104     QRadioButton* radioButton40_8;
00105     QRadioButton* radioButton40_2_5;
00106     QRadioButton* radioButton40_3_5;
00107     QRadioButton* radioButton40_4_5;
00108     QLabel* textLabel1_9_6;
00109     QRadioButton* radioButton40_9;
00110     QRadioButton* radioButton40_2_6;
00111     QRadioButton* radioButton40_3_6;
00112     QRadioButton* radioButton40_4_6;
00113     QLabel* textLabel1_9_7;
00114     QRadioButton* radioButton40_10;
00115     QRadioButton* radioButton40_2_7;
00116     QRadioButton* radioButton40_3_7;
00117     QRadioButton* radioButton40_4_7;
00118     QPushButton* manualMoveBtn;
00119     QPushButton* allStopBtn;
00120     QPushButton* initArmButton;
00121     QPushButton* homeArmButton;
00122     QPushButton* quitButton;
00123     QLabel* textLabel2;
00124     QLabel* armStatusMsg;
00125     QGroupBox* groupBox4;
00126     QLineEdit* parErr;
00127     QLineEdit* parCuPos;
00128     QLineEdit* parErrLimit;
00129     QLineEdit* parNewPos;
00130     QLineEdit* parSpeed;
00131     QLineEdit* parKP;
00132     QLineEdit* parKI;
00133     QLineEdit* parKD;
00134     QLineEdit* parDeadBand;
00135     QLineEdit* parOffset;
00136     QLineEdit* parMaxForce;
00137     QLineEdit* parCurrForce;
00138     QLineEdit* parAccTime;
00139     QLineEdit* parUserIO;
00140     QLabel* textLabel3;
00141     QLabel* textLabel3_2;
00142     QLabel* textLabel3_3;
00143     QLabel* textLabel3_4;
00144     QLabel* textLabel3_5;
00145     QLabel* textLabel3_6;
00146     QLabel* textLabel3_7;
00147     QLabel* textLabel3_8;
00148     QLabel* textLabel3_9;
00149     QLabel* textLabel1_10_3;
00150     QLabel* textLabel1_10_2;
00151     QLabel* textLabel1_10;
00152     QLabel* textLabel1_10_4;
00153     QLabel* textLabel1_10_5;
00154 
00155     virtual void init( ModelManager * mgr, nub::soft_ref<RT100> rt100 );
00156 
00157 public slots:
00158     virtual void initArm();
00159     virtual void homeArm();
00160     virtual void moveArm();
00161     virtual void moveZed( int val );
00162     virtual void moveSholder( int val );
00163     virtual void moveElbow( int val );
00164     virtual void moveYaw( int val );
00165     virtual void moveWrist1( int val );
00166     virtual void moveWrist2( int val );
00167     virtual void moveGripper( int val );
00168     virtual void getCurrentJointPositions();
00169     virtual void wristRoll( int val );
00170     virtual void wristTilt( int val );
00171     virtual void doInterpolation();
00172 
00173 protected:
00174     nub::soft_ref<RT100> itsRT100;
00175     ModelManager* itsMgr;
00176 
00177     QVBoxLayout* groupBox1Layout;
00178     QHBoxLayout* layout5;
00179     QHBoxLayout* layout6;
00180     QHBoxLayout* layout7;
00181     QHBoxLayout* layout8;
00182     QHBoxLayout* layout9;
00183     QHBoxLayout* layout10;
00184     QHBoxLayout* layout11;
00185     QHBoxLayout* layout12;
00186     QHBoxLayout* layout11_2;
00187     QVBoxLayout* groupBox2Layout;
00188     QHBoxLayout* layout22;
00189     QHBoxLayout* layout23;
00190     QHBoxLayout* layout24;
00191     QHBoxLayout* layout25;
00192     QHBoxLayout* layout26;
00193     QHBoxLayout* layout27;
00194     QHBoxLayout* layout28;
00195     QHBoxLayout* layout29;
00196     QHBoxLayout* layout30;
00197     QVBoxLayout* groupBox7Layout;
00198     QHBoxLayout* layout34;
00199     QSpacerItem* spacer3;
00200     QHBoxLayout* layout33;
00201     QHBoxLayout* layout35;
00202     QHBoxLayout* layout36;
00203     QHBoxLayout* layout37;
00204     QHBoxLayout* layout38;
00205     QHBoxLayout* layout39;
00206     QHBoxLayout* layout40;
00207     QHBoxLayout* layout41;
00208     QSpacerItem* spacer4;
00209     QHBoxLayout* layout11_3;
00210     QSpacerItem* spacer7;
00211     QHBoxLayout* layout12_2;
00212     QHBoxLayout* layout32;
00213     QHBoxLayout* layout31;
00214 
00215 protected slots:
00216     virtual void languageChange();
00217 
00218 };
00219 
00220 #endif // RT100CONTROLFORM_H