ModelAlign.hh

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/*
 * Copyright (C) 2014 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_MODELALIGN_HH_
#define GAZEBO_GUI_MODELALIGN_HH_

#include <memory>
#include <string>
#include <vector>

#include <ignition/math/AxisAlignedBox.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/KeyEvent.hh"
#include "gazebo/common/MouseEvent.hh"
#include "gazebo/common/SingletonT.hh"

#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/util/system.hh"

GZ_SINGLETON_DECLARE(GZ_GUI_VISIBLE, gazebo, gui, ModelAlign)

namespace gazebo
{
  namespace gui
  {
    class ModelAlignPrivate;

    class GZ_GUI_VISIBLE ModelAlign : public SingletonT<ModelAlign>
    {
      private: ModelAlign();

      private: virtual ~ModelAlign();

      public: void Init();

      public: void Clear();

      public: void AlignVisuals(std::vector<rendering::VisualPtr> _visuals,
          const std::string &_axis, const std::string &_config,
          const std::string &_target, const bool _publish = true,
          const bool _inverted = false);

      private: void MinMax(
          const std::vector<ignition::math::Vector3d> &_vertices,
          ignition::math::Vector3d &_min,
          ignition::math::Vector3d &_max);

      private: void Transform(const ignition::math::AxisAlignedBox &_bbox,
          const ignition::math::Pose3d &_worldPose,
          std::vector<ignition::math::Vector3d> &_vertices);

      private: void SetHighlighted(const rendering::VisualPtr &_vis,
          const bool _highlight);

      private: friend class SingletonT<ModelAlign>;

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