panel: optionally disable time column

Author: v4hn

visualization/motion_planning_tasks/src/task_panel.cpp

@@ -288,6 +288,9 @@ TaskView::TaskView(moveit_rviz_plugin::TaskPanel* parent, rviz::Property* root)
 	initial_task_expand->addOption("Top-level Expanded", EXPAND_TOP);
 	initial_task_expand->addOption("All Expanded", EXPAND_ALL);
 	initial_task_expand->addOption("All Closed", EXPAND_NONE);
+
+	show_time_column = new rviz::BoolProperty("Show Computation Times", true, "Show the 'time' column", configs);
+	connect(show_time_column, SIGNAL(changed()), this, SLOT(onShowTimeChanged()));
 }
 
 TaskView::~TaskView() {
@@ -475,6 +478,12 @@ void TaskView::onExecCurrentSolution() const {
 	d_ptr->exec_action_client_.sendGoal(goal);
 }
 
+void TaskView::onShowTimeChanged() {
+	auto* header = d_ptr->tasks_view->header();
+	if (header->count() > 3)
+		d_ptr->tasks_view->header()->setSectionHidden(3, !show_time_column->getBool());
+}
+
 GlobalSettingsWidgetPrivate::GlobalSettingsWidgetPrivate(GlobalSettingsWidget* q_ptr, rviz::Property* root)
   : q_ptr(q_ptr) {
 	setupUi(q_ptr);

visualization/motion_planning_tasks/src/task_panel.h

@@ -47,6 +47,7 @@ class QIcon;
 namespace rviz {
 class WindowManagerInterface;
 class Property;
+class BoolProperty;
 class EnumProperty;
 }
 
@@ -125,6 +126,8 @@ class TaskView : public SubPanel
 	};
 	rviz::EnumProperty* initial_task_expand;
 
+	rviz::BoolProperty* show_time_column;
+
 public:
 	TaskView(TaskPanel* parent, rviz::Property* root);
 	~TaskView() override;
@@ -141,6 +144,7 @@ protected Q_SLOTS:
 	void onCurrentSolutionChanged(const QModelIndex& current, const QModelIndex& previous);
 	void onSolutionSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
 	void onExecCurrentSolution() const;
+	void onShowTimeChanged();
 };
 
 class GlobalSettingsWidgetPrivate;