ctrlWdgt.hpp

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#ifndef QTCTRL_GUI_CONTROL
#define QTCTRL_GUI_CONTROL

#include <QWidget>
#include <QKeyEvent>
#include <QApplication>   // to get qApp definition
#include <ctrl/controller.hpp>

class ControlWidget {

protected:
  Controller&  ctrl;
  const MotionModel& model; 
  
  ControlWidget(Controller& controller,
                const MotionModel& motion_model)
    : ctrl(controller), model(motion_model) {}
  
public:
  virtual ~ControlWidget() {}
  
  virtual QWidget& widget() = 0;

  virtual void updateState(const State& state) = 0;

  virtual void updateCommands(const double& trans_vel,
                              const double& rot_vel) = 0;
  
  void keyPressed(QKeyEvent* event) {
  const int key = event->key(); // get the event's key
  if ( (key == Qt::Key_Q) || (key == Qt::Key_X) )  qApp->quit();
  }

  void keyReleased(QKeyEvent*) {}
  
}; // end of class ControlWidget

#endif // QTCTRL_GUI_CONTROL