108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
|
|
* *
|
|
* This file is part of the FreeCAD CAx development system. *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Library General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2 of the License, or (at your option) any later version. *
|
|
* *
|
|
* This library is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
|
* GNU Library General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Library General Public *
|
|
* License along with this library; see the file COPYING.LIB. If not, *
|
|
* write to the Free Software Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307, USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
#ifndef GUI_TASKVIEW_TaskTrajectory_H
|
|
#define GUI_TASKVIEW_TaskTrajectory_H
|
|
|
|
#include <Gui/Selection.h>
|
|
#include <Gui/TaskView/TaskView.h>
|
|
#include <Mod/Robot/App/RobotObject.h>
|
|
#include <Mod/Robot/App/Simulation.h>
|
|
#include <Mod/Robot/App/TrajectoryObject.h>
|
|
|
|
#include "ViewProviderRobotObject.h"
|
|
|
|
|
|
namespace App
|
|
{
|
|
class Property;
|
|
}
|
|
|
|
namespace Gui
|
|
{
|
|
class ViewProvider;
|
|
}
|
|
|
|
namespace RobotGui
|
|
{
|
|
|
|
|
|
class Ui_TaskTrajectory;
|
|
class TaskTrajectory: public Gui::TaskView::TaskBox
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
TaskTrajectory(Robot::RobotObject* pcRobotObject,
|
|
Robot::TrajectoryObject* pcTrajectoryObject,
|
|
QWidget* parent = nullptr);
|
|
~TaskTrajectory() override;
|
|
/// Observer message from the Selection
|
|
void OnChange(Gui::SelectionSingleton::SubjectType& rCaller,
|
|
Gui::SelectionSingleton::MessageType Reason);
|
|
|
|
private Q_SLOTS:
|
|
void start();
|
|
void stop();
|
|
void run();
|
|
void back();
|
|
void forward();
|
|
void end();
|
|
|
|
void timerDone();
|
|
void valueChanged(int value);
|
|
void valueChanged(double d);
|
|
|
|
Q_SIGNALS:
|
|
void axisChanged(float A1,
|
|
float A2,
|
|
float A3,
|
|
float A4,
|
|
float A5,
|
|
float A6,
|
|
const Base::Placement& Tcp);
|
|
|
|
protected:
|
|
void setTo();
|
|
void viewTool(const Base::Placement& pos);
|
|
|
|
QTimer* timer;
|
|
|
|
Robot::Simulation sim;
|
|
Robot::RobotObject* pcRobot;
|
|
ViewProviderRobotObject* ViewProv;
|
|
|
|
bool Run;
|
|
bool block;
|
|
|
|
float timePos;
|
|
float duration;
|
|
|
|
private:
|
|
QWidget* proxy;
|
|
Ui_TaskTrajectory* ui;
|
|
};
|
|
|
|
} // namespace RobotGui
|
|
|
|
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
|