text: /*
   * Copyright 2012 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
   */
  
  #include "gazebo/common/Events.hh"
  #include "gazebo/gui/JointControlWidget.hh"
  #include "gazebo/gui/ToolsWidget.hh"
  
  using namespace gazebo;
  using namespace gui;
  
  /////////////////////////////////////////////////
  ToolsWidget::ToolsWidget(QWidget *_parent)
    : QWidget(_parent)
  {
    // This name is used in the qt style sheet
    this->setObjectName("toolsWidget");
  
    // Create the joint control tool
    this->jointControlWidget = new JointControlWidget(this);
  
    // Create the main tab widget for all the tools
    this->tabWidget = new QTabWidget();
  
    // Use the embedded tab style from the stylesheet
    this->tabWidget->setObjectName("embeddedTab");
  
    // Add the joint control tool
    this->tabWidget->addTab(this->jointControlWidget, "Joints");
  
    // Make the widget fill the full space
    this->tabWidget->setSizePolicy(QSizePolicy::Expanding,
                                   QSizePolicy::Expanding);
    this->tabWidget->setMinimumWidth(250);
  
    // Create the main layout for this widget
    QVBoxLayout *mainLayout = new QVBoxLayout;
  
    // Add the tab widget to the main layout
    mainLayout->addWidget(this->tabWidget);
  
    // Let the stylesheet handle the margin sizes
    mainLayout->setContentsMargins(0, 0, 0, 0);
  
    // Assign the mainlayout to this widget
    this->setLayout(mainLayout);
  
    // Listen to entity selection events
    this->connections.push_back(
        event::Events::ConnectSetSelectedEntity(
          boost::bind(&ToolsWidget::OnSetSelectedEntity, this, _1, _2)));
  }
  
  /////////////////////////////////////////////////
  ToolsWidget::~ToolsWidget()
  {
  }
  
  /////////////////////////////////////////////////
  void ToolsWidget::OnSetSelectedEntity(const std::string &_name,
                                        const std::string &/*_mode*/)
  {
    this->jointControlWidget->SetModelName(_name);
  }
  