<? xml version="1.0" encoding="UTF-8"? >
<ui version="4.0">
 <class>CMainWindow</class>
 <widget class="QMainWindow" name="CMainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>902</width>
    <height>615</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Main Window</string>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_4">
    <property name="spacing">
     <number>0</number>
    </property>
    <property name="leftMargin">
     <number>0</number>
    </property>
    <property name="topMargin">
     <number>0</number>
    </property>
    <property name="rightMargin">
     <number>0</number>
    </property>
    <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
     <widget class="CViewerContainer" name="m_viewer" native="true"/>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menuBar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>902</width>
     <height>19</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <widget class="QMenu" name="m_menuRecentFiles">
     <property name="title">
      <string>Recent files</string>
     </property>
    </widget>
    <widget class="QMenu" name="m_saveMetricMapRepresentation">
     <property name="title">
      <string>Save metric map representation</string>
     </property>
    </widget>
    <widget class="QMenu" name="m_saveMetricmapInBinaryFormat">
     <property name="title">
      <string>Save metric map in binary format</string>
     </property>
    </widget>
    <addaction name="m_actionOpen"/>
    <addaction name="m_menuRecentFiles"/>
    <addaction name="m_actionSave"/>
    <addaction name="m_actionSaveAsText"/>
    <addaction name="m_actionSaveAsPNG"/>
    <addaction name="m_saveMetricMapRepresentation"/>
    <addaction name="m_saveMetricmapInBinaryFormat"/>
    <addaction name="separator"/>
    <addaction name="m_actionLoadConfig"/>
    <addaction name="separator"/>
    <addaction name="actionExit"/>
    <addaction name="m_actionGraphSlam"/>
   </widget>
   <widget class="QMenu" name="menuHelp">
    <property name="title">
     <string>Help</string>
    </property>
    <addaction name="m_actionAbout"/>
   </widget>
   <widget class="QMenu" name="menuTools">
    <property name="title">
     <string>Tools</string>
    </property>
    <addaction name="m_actionShowObs"/>
    <addaction name="m_actionShowConfig"/>
    <addaction name="m_actionShowAllObs"/>
    <addaction name="separator"/>
    <addaction name="m_actionMapConfiguration"/>
   </widget>
   <widget class="QMenu" name="menuEdit">
    <property name="title">
     <string>Edit</string>
    </property>
    <addaction name="m_undoAction"/>
    <addaction name="m_redoAction"/>
   </widget>
   <addaction name="menuFile"/>
   <addaction name="menuEdit"/>
   <addaction name="menuTools"/>
   <addaction name="menuHelp"/>
  </widget>
  <widget class="QDockWidget" name="m_dockWidgetObs">
   <property name="windowTitle">
    <string>Observations</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QVBoxLayout" name="verticalLayout">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_2">
       <property name="spacing">
        <number>0</number>
       </property>
       <item>
        <widget class="QPushButton" name="m_expandAll">
         <property name="toolTip">
          <string>Expand all</string>
         </property>
         <property name="text">
          <string/>
         </property>
         <property name="icon">
          <iconset resource="../resources/resources.qrc">
           <normaloff>:/expand.png</normaloff>:/expand.png</iconset>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="m_collapseAll">
         <property name="toolTip">
          <string>Collapse all</string>
         </property>
         <property name="text">
          <string/>
         </property>
         <property name="icon">
          <iconset resource="../resources/resources.qrc">
           <normaloff>:/collapse.png</normaloff>:/collapse.png</iconset>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_2">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
     <item>
      <widget class="CObservationTree" name="m_observationsTree">
       <attribute name="headerVisible">
        <bool>false</bool>
       </attribute>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="m_dockWidgetNodeViewer">
   <property name="windowTitle">
    <string>Observations viewer</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="m_contentsNodeViewer">
    <layout class="QHBoxLayout" name="horizontalLayout_3">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="m_dockWidgetConfig">
   <property name="enabled">
    <bool>true</bool>
   </property>
   <property name="floating">
    <bool>false</bool>
   </property>
   <property name="windowTitle">
    <string>Configuration</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="CConfigWidget" name="m_configWidget">
    <layout class="QVBoxLayout" name="verticalLayout_2">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
    </layout>
   </widget>
  </widget>
  <widget class="QToolBar" name="m_toolBar">
   <property name="windowTitle">
    <string>toolBar</string>
   </property>
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
   <addaction name="m_actionOpen"/>
   <addaction name="m_actionSave"/>
   <addaction name="separator"/>
   <addaction name="m_undoAction"/>
   <addaction name="m_redoAction"/>
   <addaction name="separator"/>
   <addaction name="m_actionShowObs"/>
   <addaction name="m_actionShowAllObs"/>
   <addaction name="separator"/>
   <addaction name="m_actionLoadConfig"/>
   <addaction name="m_actionShowConfig"/>
   <addaction name="m_actionMapConfiguration"/>
  </widget>
  <widget class="QDockWidget" name="m_dockWidgetDirection">
   <property name="floating">
    <bool>false</bool>
   </property>
   <property name="windowTitle">
    <string>Pose direction</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="CPoseDirection" name="m_poseDirection"/>
  </widget>
  <action name="m_actionOpen">
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/openSimplemap.png</normaloff>:/openSimplemap.png</iconset>
   </property>
   <property name="text">
    <string>Open simplemap</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+O</string>
   </property>
  </action>
  <action name="actionAbout">
   <property name="text">
    <string>About</string>
   </property>
  </action>
  <action name="m_actionAbout">
   <property name="text">
    <string>About</string>
   </property>
  </action>
  <action name="m_actionShowObs">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="checked">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/showObservationsTree.png</normaloff>:/showObservationsTree.png</iconset>
   </property>
   <property name="text">
    <string>Show observations tree</string>
   </property>
  </action>
  <action name="m_actionShowConfig">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="checked">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/showConfig.png</normaloff>:/showConfig.png</iconset>
   </property>
   <property name="text">
    <string>Show configuration</string>
   </property>
  </action>
  <action name="m_actionShowAllObs">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="checked">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/showObservations.png</normaloff>:/showObservations.png</iconset>
   </property>
   <property name="text">
    <string>Show all observation</string>
   </property>
  </action>
  <action name="m_actionLoadConfig">
   <property name="text">
    <string>Load config</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+E</string>
   </property>
  </action>
  <action name="m_actionMapConfiguration">
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/showConfigInWindow.png</normaloff>:/showConfigInWindow.png</iconset>
   </property>
   <property name="text">
    <string>Map configuration</string>
   </property>
  </action>
  <action name="actionExit">
   <property name="text">
    <string>Exit</string>
   </property>
  </action>
  <action name="m_undoAction">
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/undo.png</normaloff>:/undo.png</iconset>
   </property>
   <property name="text">
    <string>Undo</string>
   </property>
  </action>
  <action name="m_redoAction">
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/redo.png</normaloff>:/redo.png</iconset>
   </property>
   <property name="text">
    <string>Redo</string>
   </property>
  </action>
  <action name="m_actionSave">
   <property name="icon">
    <iconset resource="../resources/resources.qrc">
     <normaloff>:/save.png</normaloff>:/save.png</iconset>
   </property>
   <property name="text">
    <string>Save as simplemap</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+S</string>
   </property>
  </action>
  <action name="m_actionSaveAsText">
   <property name="text">
    <string>Save points map as text</string>
   </property>
  </action>
  <action name="m_actionSaveAsPNG">
   <property name="text">
    <string>Save gridmap as PNG</string>
   </property>
  </action>
  <action name="m_actionGraphSlam">
   <property name="text">
    <string>graph-slam</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>CConfigWidget</class>
   <extends>QWidget</extends>
   <header>gui/configWidget/CConfigWidget.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>CObservationTree</class>
   <extends>QTreeView</extends>
   <header>gui/observationTree/CObservationTree.h</header>
  </customwidget>
  <customwidget>
   <class>CViewerContainer</class>
   <extends>QWidget</extends>
   <header>gui/glWidget/CViewerContainer.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>CPoseDirection</class>
   <extends>QWidget</extends>
   <header location="global">gui/glWidget/CPoseDirection.h</header>
   <container>1</container>
  </customwidget>
 </customwidgets>
 <resources>
  <include location="../resources/resources.qrc"/>
 </resources>
 <connections>
  <connection>
   <sender>m_dockWidgetConfig</sender>
   <signal>visibilityChanged(bool)</signal>
   <receiver>m_actionShowConfig</receiver>
   <slot>setChecked(bool)</slot>
   <hints>
    <hint type="sourcelabel">
     <x>687</x>
     <y>674</y>
    </hint>
    <hint type="destinationlabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>m_actionShowObs</sender>
   <signal>toggled(bool)</signal>
   <receiver>m_dockWidgetObs</receiver>
   <slot>setVisible(bool)</slot>
   <hints>
    <hint type="sourcelabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
    <hint type="destinationlabel">
     <x>511</x>
     <y>375</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>m_dockWidgetObs</sender>
   <signal>visibilityChanged(bool)</signal>
   <receiver>m_actionShowObs</receiver>
   <slot>setChecked(bool)</slot>
   <hints>
    <hint type="sourcelabel">
     <x>511</x>
     <y>375</y>
    </hint>
    <hint type="destinationlabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>m_actionShowConfig</sender>
   <signal>triggered(bool)</signal>
   <receiver>m_dockWidgetConfig</receiver>
   <slot>setVisible(bool)</slot>
   <hints>
    <hint type="sourcelabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
    <hint type="destinationlabel">
     <x>687</x>
     <y>674</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>m_dockWidgetConfig</sender>
   <signal>visibilityChanged(bool)</signal>
   <receiver>m_actionMapConfiguration</receiver>
   <slot>setDisabled(bool)</slot>
   <hints>
    <hint type="sourcelabel">
     <x>690</x>
     <y>674</y>
    </hint>
    <hint type="destinationlabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>actionExit</sender>
   <signal>triggered()</signal>
   <receiver>CMainWindow</receiver>
   <slot>close()</slot>
   <hints>
    <hint type="sourcelabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
    <hint type="destinationlabel">
     <x>413</x>
     <y>355</y>
    </hint>
   </hints>
  </connection>
 </connections>
</ui>
