SelectionObj.hh

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/*
 * Copyright 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 _SELECTIONOBJ_HH_
#define _SELECTIONOBJ_HH_

#include <string>
#include <boost/unordered/unordered_map.hpp>

#include "gazebo/rendering/RenderTypes.hh"

namespace gazebo
{
  namespace rendering
  {

    class SelectionObj : public Visual
    {
      public: enum SelectionMode
      {
        SELECTION_NONE = 0,
        TRANS,
        ROT,
        SCALE,
        TRANS_X,
        TRANS_Y,
        TRANS_Z,
        ROT_X,
        ROT_Y,
        ROT_Z,
        SCALE_X,
        SCALE_Y,
        SCALE_Z
      };

      public: SelectionObj(const std::string &_name, VisualPtr _vis);

      public: virtual ~SelectionObj();

      public: void Load();

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

      public: void Detach();

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

      public: void SetMode(SelectionMode _mode);

      public: void SetState(const std::string &_state);

      public: void SetState(SelectionMode _state);

      public: SelectionMode GetState();

      public: SelectionMode GetMode();

      public: void SetGlobal(bool _global);

      public: void UpdateSize();

      private: void CreateScaleVisual();

      private: void CreateRotateVisual();

      private: void CreateTranslateVisual();

      private: VisualPtr transVisual;

      private: VisualPtr transXVisual;

      private: VisualPtr transYVisual;

      private: VisualPtr transZVisual;

      private: VisualPtr scaleVisual;

      private: VisualPtr scaleXVisual;

      private: VisualPtr scaleYVisual;

      private: VisualPtr scaleZVisual;

      private: VisualPtr rotVisual;

      private: VisualPtr rotXVisual;

      private: VisualPtr rotYVisual;

      private: VisualPtr rotZVisual;

      private: SelectionMode mode;

      private: SelectionMode state;

      private: VisualPtr selectedVis;

      private: double minScale;

      private: double maxScale;

      private: std::string xAxisMat;

      private: std::string yAxisMat;

      private: std::string zAxisMat;

      private: std::string xAxisMatOverlay;

      private: std::string yAxisMatOverlay;

      private: std::string zAxisMatOverlay;
    };
  }
}

#endif