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/* Author: Robert Haschke */

#pragma once

#include <QAbstractTableModel>
#include <srdfdom/srdf_writer.h>

#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#endif

class QItemSelection;

class CollisionMatrixModel : public QAbstractTableModel
{
  Q_OBJECT
public:
  CollisionMatrixModel(const srdf::SRDFWriterPtr& srdf, const std::vector<std::string>& names,
                       QObject* parent = nullptr);
  int rowCount(const QModelIndex& parent = QModelIndex()) const override;
  int columnCount(const QModelIndex& parent = QModelIndex()) const override;
  QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
  QVariant headerData(int section, Qt::Orientation orientation, int role) const override;

  // for editing
  Qt::ItemFlags flags(const QModelIndex& index) const override;
  bool setData(const QModelIndex& /*index*/, const QVariant& value, int role) override;
  void setEnabled(const QItemSelection& selection, bool value);
  void setEnabled(const QModelIndexList& indexes, bool value);

public Q_SLOTS:
  void setFilterRegExp(const QString& filter);

private:
  bool disabledByDefault(const std::string& link1, const std::string& link2) const;

private:
  srdf::SRDFWriterPtr srdf;
  const std::vector<std::string> std_names;  // names of links
  QList<QString> q_names;                    // names of links
  QList<int> visual_to_index;                // map from visual index to actual index
};
