text: #ifndef MAINWINDOW_H
  #define MAINWINDOW_H
  
  #include <QMainWindow>
  #include <QDir>
  #include <QSettings>
  
  #include "Modeling/World.h"
  #include "Interface/RobotPoseGUI.h"
  #include "qrobotposegui.h"
  
  #include <collisionoutput.h>
  #include <resourcemanager.h>
  
  namespace Ui {
  class MainWindow;
  }
  
  namespace RobotTest {
  class MainWindow;
  }
  
  class MainWindow : public QMainWindow
  {
      Q_OBJECT
      
  public:
      explicit MainWindow(QWidget *parent = 0);
      ~MainWindow();
      RobotWorld world;
      SmartPointer<QRobotPoseGUI> gui;
      SmartPointer<RobotPoseBackend> backend;
      SmartPointer<ResourceManager> manager;
      int mode;
      void Initialize(int _argc, const char **_argv);
      void StatusConnect();
  private:
      Ui::MainWindow *ui;
  public slots:
      void SetGeometry(bool status);
      void SetPoser(bool status);
      void SetBboxes(bool status);
      void SetCOM(bool status);
      void SetFrame(bool status);
      void SetFree();
      void SetIK();
      void IKConstrain();
      void IKConstrainPoint();
      void IKDelete();
  
      void SetDriver(int index);
      void UpdateDriverValue();
      void UpdateDriverParameters();
  
      void SetLink(int index);
      void UpdateLinkValue();
      void UpdateLinkParameters();
  
      void LinkMode();
      void DriverMode();
      void SliderLinkAngle(int ticks);
      void SliderDriverAngle(int ticks);
      void UpdateLinkSlider(double value);
      void UpdateDriverSlider(double value);
      void PrintCollisions();
  
      void LoadFile();
  };
  
  #endif // MAINWINDOW_H
  