JointInspector.hh

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/*
 * Copyright (C) 2014-2015 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 _JOINT_INSPECTOR_HH_
#define _JOINT_INSPECTOR_HH_

#include <string>
#include <vector>

#include "gazebo/gui/qt.h"
#include "gazebo/gui/model/JointMaker.hh"
#include "gazebo/util/system.hh"


namespace gazebo
{
  namespace gui
  {
    class JointMaker;

    class GAZEBO_VISIBLE JointInspector : public QDialog
    {
      Q_OBJECT

      public: JointInspector(JointMaker::JointType _jointType,
          QWidget *_parent = 0);

      public: ~JointInspector();

      public: math::Pose GetPose() const;

      public: math::Vector3 GetAxis(unsigned int _index) const;

      public: double GetLowerLimit(unsigned int _index) const;

      public: double GetUpperLimit(unsigned int _index) const;

      public: JointMaker::JointType GetType() const;

      public: std::string GetName() const;

      public: void SetName(const std::string &_name);

      public: void SetParent(const std::string &_parent);

      public: void SetChild(const std::string &_child);

      public: void SetPose(const math::Pose &_pose);

      public: void SetAxis(unsigned int _index, const math::Vector3 &_axis);

      public: void SetLowerLimit(unsigned int _index, double _lower);

      public: void SetUpperLimit(unsigned int _index, double _upper);

      public: void SetType(JointMaker::JointType _type);

      Q_SIGNALS: void Applied();

      private slots: void OnJointTypeChanged(int _index);

      private slots: void OnCancel();

      private slots: void OnApply();

      private slots: void OnOK();

      private: QLineEdit* jointNameLineEdit;

      private: QLabel* jointParentLabel;

      private: QLabel* jointChildLabel;

      private: QComboBox *jointTypeComboBox;

      private: QDoubleSpinBox *poseXSpinBox;

      private: QDoubleSpinBox *poseYSpinBox;

      private: QDoubleSpinBox *poseZSpinBox;

      private: QDoubleSpinBox *poseRollSpinBox;

      private: QDoubleSpinBox *posePitchSpinBox;

      private: QDoubleSpinBox *poseYawSpinBox;

      private: std::vector<QDoubleSpinBox *> axisXSpinBoxes;

      private: std::vector<QDoubleSpinBox *> axisYSpinBoxes;

      private: std::vector<QDoubleSpinBox *> axisZSpinBoxes;

      private: std::vector<QDoubleSpinBox *> lowerLimitSpinBoxes;

      private: std::vector<QDoubleSpinBox *> upperLimitSpinBoxes;

      private: JointMaker::JointType jointType;

      private: std::vector<QGroupBox *> axisGroupBoxes;
    };
  }
}

#endif