ModelSnap.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_GUI_MODELSNAP_HH_
18 #define GAZEBO_GUI_MODELSNAP_HH_
19 
20 #include <memory>
21 #include <vector>
22 #include <ignition/math/Quaternion.hh>
23 #include <ignition/math/Triangle3.hh>
24 
27 #include "gazebo/util/system.hh"
28 
30 GZ_SINGLETON_DECLARE(GZ_GUI_VISIBLE, gazebo, gui, ModelSnap)
31 
32 namespace gazebo
33 {
34  namespace common
35  {
36  class MouseEvent;
37  }
38 
39  namespace gui
40  {
41  class ModelSnapPrivate;
42 
45  class GZ_GUI_VISIBLE ModelSnap : public SingletonT<ModelSnap>
46  {
48  private: ModelSnap();
49 
51  private: virtual ~ModelSnap();
52 
54  public: void Init();
55 
58  public: void Clear();
59 
61  public: void Reset();
62 
64  public: void Fini();
65 
73  public: void Snap(
74  const ignition::math::Triangle3d &_triangleSrc,
75  const ignition::math::Triangle3d &_triangleDest,
76  rendering::VisualPtr _visualSrc);
77 
88  public: static void SnapTransform(
89  const ignition::math::Triangle3d &_triangleSrc,
90  const ignition::math::Triangle3d &_triangleDest,
91  const ignition::math::Pose3d &_poseSrc,
92  ignition::math::Vector3d &_trans,
93  ignition::math::Quaterniond &_rot);
94 
97  public: void OnMousePressEvent(const common::MouseEvent &_event);
98 
101  public: void OnMouseMoveEvent(const common::MouseEvent &_event);
102 
105  public: void OnMouseReleaseEvent(const common::MouseEvent &_event);
106 
109  private: void PublishVisualPose(rendering::VisualPtr _vis);
110 
112  private: void Update();
113 
115  private: friend class SingletonT<ModelSnap>;
116 
119  private: std::unique_ptr<ModelSnapPrivate> dataPtr;
120  };
121  }
122 }
123 #endif
Generic description of a mouse event.
Definition: MouseEvent.hh:35
Forward declarations for the common classes.
Definition: Animation.hh:26
A gui tool for snapping one model to another.
Definition: ModelSnap.hh:45
Singleton template class.
Definition: SingletonT.hh:33
gui
Definition: ModelSnap.hh:30
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
common
Definition: FuelModelDatabase.hh:37
#define GZ_SINGLETON_DECLARE(visibility, n1, n2, singletonType)
Helper to declare typed SingletonT.
Definition: SingletonT.hh:61