ModelData.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2013-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _MODEL_DATA_HH_
#define _MODEL_DATA_HH_

#include <map>
#include <string>
#include <vector>

#include "gazebo/rendering/Visual.hh"
#include "gazebo/gui/model/LinkInspector.hh"

namespace boost
{
  class recursive_mutex;
}

namespace boost
{
  class recursive_mutex;
}

namespace gazebo
{
  namespace gui
  {
    class LinkInspector;

    class ModelData
    {
      public: static std::string GetTemplateSDFString();

      public: static double GetEditTransparency();
    };

    class LinkData : public QObject
    {
      Q_OBJECT

      public: LinkData();

      public: ~LinkData();

      public: std::string GetName() const;

      public: void SetName(const std::string &_name);

      public: math::Pose GetPose() const;

      public: void SetPose(const math::Pose &_pose);

      public: void Load(sdf::ElementPtr _sdf);

      public: math::Vector3 GetScale() const;

      public: void SetScale(const math::Vector3 &_scale);

      public: void AddVisual(rendering::VisualPtr _visual);

      public: void AddCollision(rendering::VisualPtr _collisionVis);

      public: void UpdateConfig();

      public: LinkData *Clone(const std::string &_newName);

      private: void Update();

      private: bool Apply();

      private slots: void OnAccept();

      private slots: void OnApply();

      private slots: void OnAddVisual(const std::string &_name);

      private slots: void OnAddCollision(const std::string &_name);

      private slots: void OnRemoveVisual(const std::string &_name);

      private slots: void OnRemoveCollision(const std::string &_name);

      private: std::vector<event::ConnectionPtr> connections;

      private: boost::recursive_mutex *updateMutex;

      public: sdf::ElementPtr linkSDF;

      public: math::Vector3 scale;

      public: rendering::VisualPtr linkVisual;

      public: std::map<rendering::VisualPtr, msgs::Visual> visuals;

      public: std::vector<msgs::Visual *> visualUpdateMsgs;

      public: std::vector<msgs::Collision *> collisionUpdateMsgs;

      public: std::map<rendering::VisualPtr, msgs::Collision> collisions;

      public: LinkInspector *inspector;
    };
  }
}

#endif