IntrospectionCurveHandler.hh

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/*
 * Copyright (C) 2016 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 GAZEBO_GUI_PLOT_INTROSPECTIONCURVEHANDLER_HH_
#define GAZEBO_GUI_PLOT_INTROSPECTIONCURVEHANDLER_HH_

#include <memory>
#include <string>

#include <ignition/math/Vector3.hh>
#include <ignition/math/Quaternion.hh>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/gui/plot/PlottingTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    // Forward declare private data class
    class IntrospectionCurveHandlerPrivate;

    class GZ_GUI_VISIBLE IntrospectionCurveHandler
    {
      public: IntrospectionCurveHandler();

      public: ~IntrospectionCurveHandler();

      public: void AddCurve(const std::string &_query, PlotCurveWeakPtr _curve);

      public: void RemoveCurve(PlotCurveWeakPtr _curve);

      public: unsigned int CurveCount() const;

      public: void SetPaused(const bool _paused);

      public: bool Initialized() const;

      private: void SetupIntrospection();

      private: void OnIntrospection(const gazebo::msgs::Param_V &_msg);

      private: bool Vector3dFromQuery(const std::string &_query,
          const ignition::math::Vector3d &_vec, double &_value) const;

      private: bool QuaterniondFromQuery(const std::string &_query,
          const ignition::math::Quaterniond &_quat, double &_value) const;

      private: void AddItemToFilter(const std::string &_name,
          const std::function<void(const bool _result)> &_cb = nullptr);

      private: void RemoveItemFromFilter(const std::string &_name,
          const std::function<void(const bool _result)> &_cb = nullptr);

      private: std::unique_ptr<IntrospectionCurveHandlerPrivate> dataPtr;
    };
  }
}
#endif