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  /* Author: Robert Haschke */
  
  #pragma once
  
  #include <moveit/macros/class_forward.h>
  #include <moveit/macros/diagnostics.h>
  DIAGNOSTIC_PUSH
  SILENT_UNUSED_PARAM
  #include <rviz/properties/property_tree_widget.h>
  DIAGNOSTIC_POP
  
  namespace moveit
  {
  namespace planning_interface
  {
  MOVEIT_CLASS_FORWARD(MoveGroupInterface);
  }
  }  // namespace moveit
  
  namespace moveit_rviz_plugin
  {
  class MotionPlanningParamWidget : public rviz::PropertyTreeWidget
  {
    Q_OBJECT
  public:
    MotionPlanningParamWidget(const MotionPlanningParamWidget&) = delete;
    MotionPlanningParamWidget(QWidget* parent = nullptr);
    ~MotionPlanningParamWidget() override;
  
    void setMoveGroup(const moveit::planning_interface::MoveGroupInterfacePtr& mg);
    void setGroupName(const std::string& group_name);
  
  public Q_SLOTS:
    void setPlannerId(const std::string& planner_id);
  
  private Q_SLOTS:
    void changedValue();
  
  private:
    rviz::Property* createPropertyTree();
  
  private:
    rviz::PropertyTreeModel* property_tree_model_;
  
    moveit::planning_interface::MoveGroupInterfacePtr move_group_;
    std::string group_name_;
    std::string planner_id_;
  };
  }  // namespace moveit_rviz_plugin
  