LinkInspector.hh

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/*
 * Copyright (C) 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 GAZEBO_GUI_MODEL_LINKINSPECTOR_HH_
#define GAZEBO_GUI_MODEL_LINKINSPECTOR_HH_

#include <memory>
#include <string>

#include <ignition/math/Vector3.hh>

#include "gazebo/gui/qt.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class CollisionConfig;
    class LinkConfig;
    class VisualConfig;

    // Forward declare private data.
    class LinkInspectorPrivate;

    class GZ_GUI_VISIBLE LinkInspector : public QDialog
    {
      Q_OBJECT

      public: explicit LinkInspector(QWidget *_parent = 0);

      public: ~LinkInspector();

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

      public: std::string Name() const;

      public: LinkConfig *GetLinkConfig() const;

      public: VisualConfig *GetVisualConfig() const;

      public: CollisionConfig *GetCollisionConfig() const;

      public: void SetLinkId(const std::string &_id);

      public: void Open();

      public: void SetShowCollisions(const bool _show);

      public: void SetShowVisuals(const bool _show);

      public: void SetShowLinkFrame(const bool _show);

      protected: virtual void enterEvent(QEvent *_event);

      private: double ComputeVolume() const;

      private: ignition::math::Vector3d ComputeInertia(
          const double _mass) const;

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

      Q_SIGNALS: void Opened();

      Q_SIGNALS: void Applied();

      Q_SIGNALS: void Accepted();

      Q_SIGNALS: void ShowCollisions(const bool _show);

      Q_SIGNALS: void ShowVisuals(const bool _show);

      Q_SIGNALS: void ShowLinkFrame(const bool _show);

      private slots: void OnRemove();

      private slots: void OnShowCollisions(const bool _show);

      private slots: void OnShowVisuals(const bool _show);

      private slots: void OnShowLinkFrame(const bool _show);

      private slots: void OnCancel();

      private slots: void OnOK();

      private slots: void OnConfigApplied();

      private slots: void OnDensityValueChanged(const double _value);

      private slots: void OnMassValueChanged(const double _value);

      private slots: void OnCollisionChanged(const std::string &_name,
          const std::string &_type);

      private slots: void RestoreOriginalData();

      private: void keyPressEvent(QKeyEvent *_event);

      private: void closeEvent(QCloseEvent *_event);

      private: std::unique_ptr<LinkInspectorPrivate> dataPtr;
    };
  }
}

#endif