ModelManipulator.hh

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/*
 * Copyright (C) 2012 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_MODELMANIPULATOR_HH_
#define GAZEBO_GUI_MODELMANIPULATOR_HH_

#include <memory>
#include <string>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/Pose3.hh>

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

#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/common/SingletonT.hh"
#include "gazebo/util/system.hh"

GZ_SINGLETON_DECLARE(GZ_GUI_VISIBLE, gazebo, gui, ModelManipulator)

namespace gazebo
{
  namespace gui
  {
    class ModelManipulatorPrivate;

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

      private: virtual ~ModelManipulator();

      public: void Init();

      public: void Clear();

      public: void Detach();

      public: void SetManipulationMode(const std::string &_mode);

      public: void SetAttachedVisual(rendering::VisualPtr _vis);

      public: void OnMousePressEvent(const common::MouseEvent &_event);

      public: void OnMouseMoveEvent(const common::MouseEvent &_event);

      public: void OnMouseReleaseEvent(const common::MouseEvent &_event);

      public: void OnKeyPressEvent(const common::KeyEvent &_event);

      public: void OnKeyReleaseEvent(const common::KeyEvent &_event);

      public: void RotateEntity(rendering::VisualPtr &_vis,
          const ignition::math::Vector3d &_axis,
          const bool _local = false);

      public: void TranslateEntity(rendering::VisualPtr &_vis,
          const ignition::math::Vector3d &_axis,
          const bool _local = false);

      public: void ScaleEntity(rendering::VisualPtr &_vis,
          const ignition::math::Vector3d &_axis,
          const bool _local = false);

      public: static ignition::math::Vector3d SnapPoint(
          const ignition::math::Vector3d &_point,
          const double _interval = 1.0, const double _sensitivity = 0.4);

      public: static ignition::math::Vector3d MousePositionOnPlane(
          rendering::CameraPtr _camera,
          const common::MouseEvent &_event);

      public: static ignition::math::Vector3d MouseMoveDistance(
          rendering::CameraPtr _camera,
          const ignition::math::Vector2i &_start,
          const ignition::math::Vector2i &_end,
          const ignition::math::Pose3d &_pose,
          const ignition::math::Vector3d &_axis, const bool _local);

      private: ignition::math::Vector3d MouseMoveDistance(
          const ignition::math::Pose3d &_pose,
          const ignition::math::Vector3d &_axis, const bool _local) const;

      private: void SetMouseMoveVisual(rendering::VisualPtr _vis);

      private: void PublishVisualPose(rendering::VisualPtr _vis);

      private: void PublishVisualScale(rendering::VisualPtr _vis);

      private: ignition::math::Vector3d UpdateScale(
          const ignition::math::Vector3d &_axis,
          const ignition::math::Vector3d &_scale, const std::string &_geom);

      private: friend class SingletonT<ModelManipulator>;

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