Handles the creation of joints in the model editor. More...

#include <JointMaker.hh>

Inherits QObject.

Public Types
enum	JointType { JOINT_NONE, JOINT_FIXED, JOINT_SLIDER, JOINT_HINGE, JOINT_HINGE2, JOINT_SCREW, JOINT_UNIVERSAL, JOINT_BALL, JOINT_GEARBOX }

Public Slots
void	OnType (const int _typeInt)
	A new type for the joint being created has been chosen. More...

void	SetAxis (const std::string &_axis, const ignition::math::Vector3d &_value)
	A new axis for the joint being created has been chosen. More...

void	ShowJoints (const bool _show)
	Qt Callback to show / hide joint visuals. More...

Signals
void	EmitLinkInserted (const std::string &_linkId)
	Qt signal to notify that a link has been inserted. More...

void	EmitLinkRemoved (const std::string &_linkId)
	Qt signal to notify that a link has been removed. More...

void	JointAdded ()
	Qt signal when the joint creation process has ended. More...

Public Member Functions
	JointMaker ()
	Constructor. More...

virtual	~JointMaker ()
	Destructor. More...

void	AddJoint (const std::string &_type)
	Add a joint. More...

void	AddJoint (const JointType _type)
	Add a joint. More...

void	AddScopedLinkName (const std::string &_name)
	Add a scoped link name. More...

void	AlignLinks (const bool _childToParent, const std::string &_axis, const std::string &_mode, const bool _reverse)
	Align the parent and child links of the joint being created. More...

std::string	CreateHotSpot (JointData *_joint)
	Helper method to create hotspot visual for mouse interaction. More...

JointData *	CreateJoint (const rendering::VisualPtr &_parent, const rendering::VisualPtr &_child)
	Create a joint with parent and child. More...

void	CreateJointFromSDF (sdf::ElementPtr _jointElem, const std::string &_modelName="")
	Create a joint from SDF. More...

void	DisableEventHandlers ()
	Disable the mouse and key event handlers for the joint maker. More...

void	EnableEventHandlers ()
	Enable the mouse and key event handlers for the joint maker. More...

void	FinalizeCreation ()
	Finalize joint creation. More...

void	GenerateSDF ()
	Generate SDF for all joints. More...

unsigned int	JointCount ()
	Get the number of joints added. More...

std::vector< JointData * >	JointDataByLink (const std::string &_linkName) const
	Get a vector containing data for all joints connected to the given link. More...

std::map< std::string, std::string >	LinkList () const
	Get the list of links. More...

void	RemoveJoint (const std::string &_jointName)
	Remove joint by name. More...

void	RemoveJointByUser (const std::string &_jointName)
	Remove joint by name and register user command. More...

void	RemoveJointsByLink (const std::string &_linkName)
	Remove all joints connected to link. More...

void	Reset ()
	Reset the joint maker;. More...

sdf::ElementPtr	SDF () const
	Get model SDF element containing all joints. More...

void	SetChildLink (const std::string &_name)
	A new child link for the joint being created has been chosen. More...

void	SetJointPose (const ignition::math::Pose3d &_pose)
	A new joint pose for the joint being created has been chosen. More...

void	SetLinksRelativePose (const ignition::math::Pose3d &_pose, const bool _resetAll, const int _resetAxis=-1)
	A new relative pose for the child link of the joint being created hass been chosen. More...

void	SetParentLink (const std::string &_name)
	A new parent link for the joint being created has been chosen. More...

void	SetSelected (const std::string &_name, const bool selected)
	Set the select state of a joint. More...

void	SetSelected (const rendering::VisualPtr &_jointVis, const bool selected)
	Set the select state of a joint visual. More...

void	SetUserCmdManager (MEUserCmdManager *_manager)
	Set the user command manager variable. More...

JointMaker::JointType	State () const
	Get state. More...

void	Stop ()
	Stop the process of adding joint to the model. More...

void	Update ()
	Update callback on PreRender. More...

Static Public Member Functions
static JointType	ConvertJointType (const std::string &_type)
	Convert a joint type string to enum. More...

static unsigned int	JointAxisCount (const JointMaker::JointType _type)
	Get the axis count for joint type. More...

static std::string	JointMaterial (const std::string &_type)
	Get the material for the joint type. More...

static std::string	TypeAsString (const JointMaker::JointType _type)
	Get the joint type in string. More...

Static Public Attributes
static std::map< JointMaker::JointType, std::string >	jointMaterials
	A map of joint type to its corresponding material. More...

static std::map< JointMaker::JointType, std::string >	jointTypes
	A map of joint type to its string value. More...

static std::vector< ignition::math::Vector3d >	unitVectors
	Constant vector containing [UnitX, UnitY, UnitZ]. More...

Detailed Description

Handles the creation of joints in the model editor.

Member Enumeration Documentation

◆ JointType

enum JointType

Enumerator
JOINT_NONE	none
JOINT_FIXED	Fixed joint.
JOINT_SLIDER	Slider joint.
JOINT_HINGE	Hinge joint.
JOINT_HINGE2	Hinge2 joint.
JOINT_SCREW	Screw joint.
JOINT_UNIVERSAL	Universal joint.
JOINT_BALL	Ball joint.
JOINT_GEARBOX	Gearbox joint.

Constructor & Destructor Documentation

◆ JointMaker()

JointMaker ( )

Constructor.

◆ ~JointMaker()

virtual ~JointMaker ( )

virtual

Destructor.

Member Function Documentation

◆ AddJoint() [1/2]

void AddJoint ( const std::string & _type )

Add a joint.

Parameters

[in] _type Type of joint to be added in string.

◆ AddJoint() [2/2]

void AddJoint ( const JointType _type )

Add a joint.

Parameters

[in] _type Type of joint to be added

◆ AddScopedLinkName()

void AddScopedLinkName ( const std::string & _name )

Add a scoped link name.

Nested model's link names are scoped but the parent and child field in the joint SDF element may not be. So keep track of scoped link names in order to generate the correct SDF before spawning the model.

Parameters

[in] _name Scoped link name.

◆ AlignLinks()

void AlignLinks	(	const bool	_childToParent,
		const std::string &	_axis,
		const std::string &	_mode,
		const bool	_reverse
	)

Align the parent and child links of the joint being created.

Parameters

[in]	_childToParent	True to align the child to the parent, false to align the parent to the child.
[in]	_axis	Axis of alignment (x/y/z)
[in]	_mode	Alignment mode (min/center/max)
[in]	_reverse	True to reverse alignment.

◆ ConvertJointType()

static JointType ConvertJointType ( const std::string & _type )

static

Convert a joint type string to enum.

Parameters

[in] _type Joint type in string.

Returns: Joint type enum.

◆ CreateHotSpot()

std::string CreateHotSpot ( JointData * _joint )

Helper method to create hotspot visual for mouse interaction.

Parameters

[in] _joint Joint data used for creating the hotspot

Returns: Joint id, empty if hotspot creation failed.

◆ CreateJoint()

JointData* CreateJoint	(	const rendering::VisualPtr &	_parent,
		const rendering::VisualPtr &	_child
	)

Create a joint with parent and child.

Parameters

[in]	_parent	Parent of the joint.
[in]	_child	Child of the joint.

Returns: Joint data.

◆ CreateJointFromSDF()

void CreateJointFromSDF	(	sdf::ElementPtr	_jointElem,
		const std::string &	_modelName = `""`
	)

Create a joint from SDF.

This is mainly used when editing existing models.

Parameters

[in]	_jointElement	SDF element to load.
[in]	_modelName	Name of the model that contains this joint.

◆ DisableEventHandlers()

void DisableEventHandlers ( )

Disable the mouse and key event handlers for the joint maker.

◆ EmitLinkInserted

void EmitLinkInserted ( const std::string & _linkId )

signal

Qt signal to notify that a link has been inserted.

Parameters

[in] _linkId Link's unique name.

◆ EmitLinkRemoved

void EmitLinkRemoved ( const std::string & _linkId )

signal

Qt signal to notify that a link has been removed.

Parameters

[in] _linkId Link's unique name.

◆ EnableEventHandlers()

void EnableEventHandlers ( )

Enable the mouse and key event handlers for the joint maker.

◆ FinalizeCreation()

void FinalizeCreation ( )

Finalize joint creation.

◆ GenerateSDF()

void GenerateSDF ( )

Generate SDF for all joints.

◆ JointAdded

void JointAdded ( )

signal

Qt signal when the joint creation process has ended.

◆ JointAxisCount()

static unsigned int JointAxisCount ( const JointMaker::JointType _type )

static

Get the axis count for joint type.

Parameters

[in] _type Type of joint.

Returns: Axis count.

◆ JointCount()

unsigned int JointCount ( )

Get the number of joints added.

Returns: Number of joints.

◆ JointDataByLink()

std::vector<JointData *> JointDataByLink ( const std::string & _linkName ) const

Get a vector containing data for all joints connected to the given link.

Parameters

[in] _linkName Name of the link.

Returns: Vector with joint data.

◆ JointMaterial()

static std::string JointMaterial ( const std::string & _type )

static

Get the material for the joint type.

Parameters

[in] _type Type of joint.

Returns: Name of material.

◆ LinkList()

std::map<std::string, std::string> LinkList ( ) const

Get the list of links.

Returns: The list of links, with the link scoped name and leaf name.

◆ OnType

void OnType ( const int _typeInt )

slot

A new type for the joint being created has been chosen.

To be used by other classes.

Parameters

[in] _typeInt Integer corresponding to joint type enum.

◆ RemoveJoint()

void RemoveJoint ( const std::string & _jointName )

Remove joint by name.

Parameters

[in] _jointName Name of joint to be removed, or an empty string to remove the new joint under creation.

◆ RemoveJointByUser()

void RemoveJointByUser ( const std::string & _jointName )

Remove joint by name and register user command.

Parameters

[in] _jointName Name of joint to be removed.

◆ RemoveJointsByLink()

void RemoveJointsByLink ( const std::string & _linkName )

Remove all joints connected to link.

Parameters

[in] _linkName Name of the link.

◆ Reset()

void Reset ( )

Reset the joint maker;.

◆ SDF()

sdf::ElementPtr SDF ( ) const

Get model SDF element containing all joints.

Returns: Pointer to SDF element.

◆ SetAxis

void SetAxis	(	const std::string &	_axis,
		const ignition::math::Vector3d &	_value
	)

slot

A new axis for the joint being created has been chosen.

To be used by other classes.

Parameters

[in]	_axis	Axis which was changed, either "axis1" or "axis2".
[in]	_value	New value for the axis

◆ SetChildLink()

void SetChildLink ( const std::string & _name )

A new child link for the joint being created has been chosen.

To be used by other classes.

See also: SetChildLink(const rendering::VisualPtr &_childLink)

Parameters

[in] _name Link name, either the leaf or scoped.

◆ SetJointPose()

void SetJointPose ( const ignition::math::Pose3d & _pose )

A new joint pose for the joint being created has been chosen.

To be used by other classes.

Parameters

[in] _pose New joint pose.

◆ SetLinksRelativePose()

void SetLinksRelativePose	(	const ignition::math::Pose3d &	_pose,
		const bool	_resetAll,
		const int	_resetAxis = `-1`
	)

A new relative pose for the child link of the joint being created hass been chosen.

The pose is expressed in the parent link frame. This has no effect if triggered before both links are chosen.

Parameters

[in]	_pose	New pose.
[in]	_resetAll	Set to true to reset the relative pose to the original one. [in] _resetAxis Reset only the given axis 0 == x, 1 == y, 2 == z

◆ SetParentLink()

void SetParentLink ( const std::string & _name )

A new parent link for the joint being created has been chosen.

To be used by other classes.

See also: SetParentLink(const rendering::VisualPtr &_parentLink)

Parameters

[in] _name Link name, either the leaf or scoped.

◆ SetSelected() [1/2]

void SetSelected	(	const std::string &	_name,
		const bool	selected
	)

Set the select state of a joint.

Parameters

[in]	_name	Name of the joint.
[in]	_selected	True to select the joint.

◆ SetSelected() [2/2]

void SetSelected	(	const rendering::VisualPtr &	_jointVis,
		const bool	selected
	)

Set the select state of a joint visual.

Parameters

[in]	_jointVis	Pointer to the joint visual.
[in]	_selected	True to select the joint.

◆ SetUserCmdManager()

void SetUserCmdManager ( MEUserCmdManager * _manager )

Set the user command manager variable.

Parameters

[in] _manager Pointer to the manager.

◆ ShowJoints

void ShowJoints ( const bool _show )

slot

Qt Callback to show / hide joint visuals.

Parameters

[in] _show True to show joints, false to hide them.

◆ State()

JointMaker::JointType State ( ) const

Get state.

Returns: Current state of the joint maker. If mouse is enabled to create a new joint, it returns the type of joint. Otherwise, it returns JOINT_NONE.

◆ Stop()

void Stop ( )

Stop the process of adding joint to the model.

◆ TypeAsString()

static std::string TypeAsString ( const JointMaker::JointType _type )

static

Get the joint type in string.

Parameters

[in] _type Type of joint.

Returns: Joint type in string.

◆ Update()

void Update ( )

Update callback on PreRender.

Member Data Documentation

◆ jointMaterials

std::map<JointMaker::JointType, std::string> jointMaterials

static

A map of joint type to its corresponding material.

◆ jointTypes

std::map<JointMaker::JointType, std::string> jointTypes

static

A map of joint type to its string value.

◆ unitVectors

std::vector<ignition::math::Vector3d> unitVectors

static

Constant vector containing [UnitX, UnitY, UnitZ].

The documentation for this class was generated from the following file:

JointMaker.hh

Public Types

Public Slots

Signals

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ JointType

Constructor & Destructor Documentation

◆ JointMaker()

◆ ~JointMaker()

Member Function Documentation

◆ AddJoint() [1/2]

◆ AddJoint() [2/2]

◆ AddScopedLinkName()

◆ AlignLinks()

◆ ConvertJointType()

◆ CreateHotSpot()

◆ CreateJoint()

◆ CreateJointFromSDF()

◆ DisableEventHandlers()

◆ EmitLinkInserted

◆ EmitLinkRemoved

◆ EnableEventHandlers()

◆ FinalizeCreation()

◆ GenerateSDF()

◆ JointAdded

◆ JointAxisCount()

◆ JointCount()

◆ JointDataByLink()

◆ JointMaterial()

◆ LinkList()

◆ OnType

◆ RemoveJoint()

◆ RemoveJointByUser()

◆ RemoveJointsByLink()

◆ Reset()

◆ SDF()

◆ SetAxis

◆ SetChildLink()

◆ SetJointPose()

◆ SetLinksRelativePose()

◆ SetParentLink()

◆ SetSelected() [1/2]

◆ SetSelected() [2/2]

◆ SetUserCmdManager()

◆ ShowJoints

◆ State()

◆ Stop()

◆ TypeAsString()

◆ Update()

Member Data Documentation

◆ jointMaterials

◆ jointTypes

◆ unitVectors