Create and manage 3D visuals of a model with links, nested models and joints. More...

#include <ModelCreator.hh>

Inherits QObject.

Public Types
enum	EntityType { ENTITY_NONE, ENTITY_BOX, ENTITY_SPHERE, ENTITY_CYLINDER, ENTITY_MESH, ENTITY_POLYLINE, ENTITY_MODEL }

enum	SaveState { NEVER_SAVED, ALL_SAVED, UNSAVED_CHANGES }
	Save states for the model editor. More...

Public Slots
void	ShowCollisions (const bool _show)
	Show or hide collision visuals. More...

void	ShowLinkFrames (const bool _show)
	Show or hide link frame visuals. More...

void	ShowVisuals (const bool _show)
	Show or hide visual visuals. More...

Signals
void	LinkAdded ()
	Qt signal when the a link has been added. More...

Public Member Functions
	ModelCreator (QObject *_parent=NULL)
	Constructor. More...

virtual	~ModelCreator ()
	Destructor. More...

void	AddCustomLink (const EntityType _type, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Pose3d &_pose=ignition::math::Pose3d::Zero, const std::string &_uri="", const unsigned int _samples=5)
	Begin the process of inserting a custom link using the mouse. More...

void	AddEntity (const sdf::ElementPtr &_sdf)
	Add an entity to the model. More...

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

void	AddLink (const EntityType _type)
	Add a link to the model. More...

NestedModelData *	AddModel (const sdf::ElementPtr &_sdf)
	Add a nested model to the model. More...

void	AddModelPlugin (const sdf::ElementPtr &_pluginElem)
	Add a model plugin to the model. More...

LinkData *	AddShape (const EntityType _type, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Pose3d &_pose=ignition::math::Pose3d::Zero, const std::string &_uri="", const unsigned int _samples=5)
	Add a link to the model. More...

enum SaveState	CurrentSaveState () const
	Get current save state. More...

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

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

void	FinishModel ()
	Finish the model and create the entity on the gzserver. More...

void	GenerateSDF ()
	Generate the SDF from model link and joint visuals. More...

gui::JointMaker *	JointMaker () const
	Get joint maker. More...

void	ModelChanged ()
	Set save state upon a change to the model. More...

std::string	ModelName () const
	Get the name of the model. More...

ModelPluginData *	ModelPlugin (const std::string &_name)
	Get a model plugin data by its name. More...

void	OnAddModelPlugin (const std::string &_name, const std::string &_filename, const std::string &_innerxml, const bool _newCmd=true)
	Add a model plugin to the model. More...

void	RemoveEntity (const std::string &_entityName)
	Remove an entity from the model. More...

void	RemoveModelPlugin (const std::string &_pluginName, const bool _newCmd=true)
	Remove a model plugin from the model. More...

void	Reset ()
	Reset the model creator and the SDF. More...

bool	SaveModelFiles ()
	Helper function to manage writing files to disk. More...

void	SetAutoDisable (const bool _auto)
	Set the model to allow auto disable at rest. More...

void	SetModelName (const std::string &_modelName)
	Set the name of the model. More...

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

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

void	SetStatic (const bool _static)
	Set the model to be static. More...

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

ignition::math::Pose3d	WorldToLocal (const ignition::math::Pose3d &_world) const
	Convert a given pose from the world frame to the local frame of the model being edited. More...

Detailed Description

Create and manage 3D visuals of a model with links, nested models and joints.

Member Enumeration Documentation

◆ EntityType

enum EntityType

Enumerator
ENTITY_NONE	none
ENTITY_BOX	Box.
ENTITY_SPHERE	Sphere.
ENTITY_CYLINDER	Cylinder.
ENTITY_MESH	Imported 3D mesh.
ENTITY_POLYLINE	Extruded polyline.
ENTITY_MODEL	Nested model.

◆ SaveState

enum SaveState

Save states for the model editor.

Enumerator
NEVER_SAVED	The model has never been saved.
ALL_SAVED	All changes have been saved.
UNSAVED_CHANGES	Has been saved before, but has unsaved changes.

Constructor & Destructor Documentation

◆ ModelCreator()

ModelCreator ( QObject * _parent = NULL )

explicit

Constructor.

Parameters

[in] _parent Parent Qt Object

◆ ~ModelCreator()

virtual ~ModelCreator ( )

virtual

Destructor.

Member Function Documentation

◆ AddCustomLink()

void AddCustomLink	(	const EntityType	_type,
		const ignition::math::Vector3d &	_size = `ignition::math::Vector3d::One`,
		const ignition::math::Pose3d &	_pose = `ignition::math::Pose3d::Zero`,
		const std::string &	_uri = `""`,
		const unsigned int	_samples = `5`
	)

Begin the process of inserting a custom link using the mouse.

Parameters

[in]	_type	Type of link to add: ENTITY_BOX, ENTITY_CYLINDER, ENTITY_SPHERE, ENTITY_MESH or ENTITY_POLYLINE.
[in]	_size	Size of the link.
[in]	_pose	Pose of the link.
[in]	_samples	Number of samples for polyline.

◆ AddEntity()

void AddEntity ( const sdf::ElementPtr & _sdf )

Add an entity to the model.

Parameters

[in] _sdf SDF describing the entity.

◆ AddJoint()

void AddJoint ( const std::string & _type )

Add a joint to the model.

Parameters

[in] _type Type of joint to add.

◆ AddLink()

void AddLink ( const EntityType _type )

Add a link to the model.

Parameters

[in] _type Type of link to be added

◆ AddModel()

NestedModelData* AddModel ( const sdf::ElementPtr & _sdf )

Add a nested model to the model.

Parameters

[in] _sdf SDF describing the model.

Returns: Nested model data.

◆ AddModelPlugin()

void AddModelPlugin ( const sdf::ElementPtr & _pluginElem )

Add a model plugin to the model.

Parameters

[in] _pluginElem Pointer to plugin SDF element

◆ AddShape()

LinkData* AddShape	(	const EntityType	_type,
		const ignition::math::Vector3d &	_size = `ignition::math::Vector3d::One`,
		const ignition::math::Pose3d &	_pose = `ignition::math::Pose3d::Zero`,
		const std::string &	_uri = `""`,
		const unsigned int	_samples = `5`
	)

Add a link to the model.

Parameters

[in]	_type	Type of link to add: ENTITY_BOX, ENTITY_CYLINDER, ENTITY_SPHERE, ENTITY_MESH or ENTITY_POLYLINE.
[in]	_size	Size of the link.
[in]	_pose	Pose of the link.
[in]	_samples	Number of samples for polyline.

Returns: Link data.

◆ CurrentSaveState()

enum SaveState CurrentSaveState ( ) const

Get current save state.

Returns: Current save state.

◆ DisableEventHandlers()

void DisableEventHandlers ( )

Disable the mouse and key event handlers.

◆ EnableEventHandlers()

void EnableEventHandlers ( )

Enable the mouse and key event handlers.

◆ FinishModel()

void FinishModel ( )

Finish the model and create the entity on the gzserver.

◆ GenerateSDF()

void GenerateSDF ( )

Generate the SDF from model link and joint visuals.

◆ JointMaker()

gui::JointMaker* JointMaker ( ) const

Get joint maker.

Returns: Joint maker

◆ LinkAdded

void LinkAdded ( )

signal

Qt signal when the a link has been added.

◆ ModelChanged()

void ModelChanged ( )

Set save state upon a change to the model.

◆ ModelName()

std::string ModelName ( ) const

Get the name of the model.

Returns: Name of model.

◆ ModelPlugin()

ModelPluginData* ModelPlugin ( const std::string & _name )

Get a model plugin data by its name.

Parameters

[in] _name Name of model plugin

Returns: Model plugin data.

◆ OnAddModelPlugin()

void OnAddModelPlugin	(	const std::string &	_name,
		const std::string &	_filename,
		const std::string &	_innerxml,
		const bool	_newCmd = `true`
	)

Add a model plugin to the model.

Parameters

[in]	_name	Name of plugin
[in]	_filename	Plugin filename
[in]	_innerxml	Plugin SDF elements in string
[in]	_newCmd	Flag indicating whether a new command should be created.

◆ RemoveEntity()

void RemoveEntity ( const std::string & _entityName )

Remove an entity from the model.

Parameters

[in] _entityName Name of the entity to remove

◆ RemoveModelPlugin()

void RemoveModelPlugin	(	const std::string &	_pluginName,
		const bool	_newCmd = `true`
	)

Remove a model plugin from the model.

Parameters

[in]	_pluginName	Name of the model plugin to remove.
[in]	_newCmd	Flag indicating whether a new command should be created.

◆ Reset()

void Reset ( )

Reset the model creator and the SDF.

◆ SaveModelFiles()

bool SaveModelFiles ( )

Helper function to manage writing files to disk.

Returns: True if successfully saved.

◆ SetAutoDisable()

void SetAutoDisable ( const bool _auto )

Set the model to allow auto disable at rest.

Parameters

[in] _auto True to allow the model to auto disable.

◆ SetModelName()

void SetModelName ( const std::string & _modelName )

Set the name of the model.

Parameters

[in] _modelName Name of the model to set to.

◆ SetSelected() [1/2]

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

Set the select state of an entity.

Parameters

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

◆ SetSelected() [2/2]

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

Set the select state of a entity visual.

Parameters

[in]	_linkVis	Pointer to the entity visual.
[in]	_selected	True to select the entity.

◆ SetStatic()

void SetStatic ( const bool _static )

Set the model to be static.

Parameters

[in] _static True to make the model static.

◆ ShowCollisions

void ShowCollisions ( const bool _show )

slot

Show or hide collision visuals.

Parameters

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

◆ ShowLinkFrames

void ShowLinkFrames ( const bool _show )

slot

Show or hide link frame visuals.

Parameters

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

◆ ShowVisuals

void ShowVisuals ( const bool _show )

slot

Show or hide visual visuals.

Parameters

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

◆ Stop()

void Stop ( )

Stop the process of adding a link or joint to the model.

◆ WorldToLocal()

ignition::math::Pose3d WorldToLocal ( const ignition::math::Pose3d & _world ) const

Convert a given pose from the world frame to the local frame of the model being edited.

Parameters

[in] _world Pose in world frame.

Returns: Pose in model local frame.

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

ModelCreator.hh

Public Types

Public Slots

Signals

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ EntityType

◆ SaveState

Constructor & Destructor Documentation

◆ ModelCreator()

◆ ~ModelCreator()

Member Function Documentation

◆ AddCustomLink()

◆ AddEntity()

◆ AddJoint()

◆ AddLink()

◆ AddModel()

◆ AddModelPlugin()

◆ AddShape()

◆ CurrentSaveState()

◆ DisableEventHandlers()

◆ EnableEventHandlers()

◆ FinishModel()

◆ GenerateSDF()

◆ JointMaker()

◆ LinkAdded

◆ ModelChanged()

◆ ModelName()

◆ ModelPlugin()

◆ OnAddModelPlugin()

◆ RemoveEntity()

◆ RemoveModelPlugin()

◆ Reset()

◆ SaveModelFiles()

◆ SetAutoDisable()

◆ SetModelName()

◆ SetSelected() [1/2]

◆ SetSelected() [2/2]

◆ SetStatic()

◆ ShowCollisions

◆ ShowLinkFrames

◆ ShowVisuals

◆ Stop()

◆ WorldToLocal()