ModelCreator.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 _MODEL_CREATOR_HH_
#define _MODEL_CREATOR_HH_

#include <boost/unordered/unordered_map.hpp>
#include <sdf/sdf.hh>

#include <list>
#include <string>
#include <vector>

#include "gazebo/common/KeyEvent.hh"
#include "gazebo/gui/qt.h"
#include "gazebo/gui/model/JointMaker.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace msgs
  {
    class Visual;
  }

  namespace gui
  {
    class PartData;


    class GAZEBO_VISIBLE ModelCreator : public QObject
    {
      Q_OBJECT

      public: enum PartType
      {
        PART_NONE,
        PART_BOX,
        PART_SPHERE,
        PART_CYLINDER,
        PART_CUSTOM
      };

      public: ModelCreator();

      public: virtual ~ModelCreator();

      public: void SetModelName(const std::string &_modelName);

      public: std::string GetModelName() const;

      public: void FinishModel();

      public: std::string AddBox(
          const math::Vector3 &_size = math::Vector3::One,
          const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddSphere(double _radius = 0.5,
          const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddCylinder(double _radius = 0.5,
          double _length = 1.0, const math::Pose &_pose = math::Pose::Zero);

      public: std::string AddCustom(const std::string &_name,
          const math::Vector3 &_scale = math::Vector3::One,
          const math::Pose &_pose = math::Pose::Zero);

      public: void AddJoint(const std::string &_type);

      public: void RemovePart(const std::string &_partName);

      public: void SetStatic(bool _static);

      public: void SetAutoDisable(bool _auto);

      public: void SaveToSDF(const std::string &_savePath);

      public: void Reset();

      public: void Stop();

      public: JointMaker *GetJointMaker() const;

      public: void AddPart(PartType _type);

      public: void GenerateSDF();

      private slots: void OnEdit(bool _checked);

      private slots: void OnCopy();

      private slots: void OnPaste();

      private: bool OnMousePress(const common::MouseEvent &_event);

      private: bool OnMouseRelease(const common::MouseEvent &_event);

      private: bool OnMouseMove(const common::MouseEvent &_event);

      private: bool OnMouseDoubleClick(const common::MouseEvent &_event);

      private: bool OnKeyPress(const common::KeyEvent &_event);

      private: void OnManipMode(const std::string &_mode);

      private: void OnSetSelectedEntity(const std::string &_name,
          const std::string &_mode);

      private: void CreatePart(const rendering::VisualPtr &_visual);

      private: void OpenInspector(const std::string &_name);

      // Documentation inherited
      private: virtual void CreateTheEntity();

      private: bool Init();

      private: std::string CreateModel();

      private: std::string GetTemplateSDFString();

      private: void OnAlignMode(const std::string &_axis,
          const std::string &_config, const std::string &_target,
          bool _preview);

      private: void DeselectAll();

      private slots: void OnDelete(const std::string &_name="");

      Q_SIGNALS: void PartAdded();

      private: sdf::SDFPtr modelSDF;

      private: sdf::SDFPtr modelTemplateSDF;

      private: std::string modelName;

      private: rendering::VisualPtr modelVisual;

      private: rendering::VisualPtr mouseVisual;

      private: math::Pose modelPose;

      private: bool isStatic;

      private: bool autoDisable;

      private: std::vector<event::ConnectionPtr> connections;

      private: int boxCounter;

      private: int cylinderCounter;

      private: int sphereCounter;

      private: int customCounter;

      private: int modelCounter;

      private: double editTransparency;

      private: PartType addPartType;

      private: boost::unordered_map<std::string, PartData *> allParts;

      private: transport::NodePtr node;

      private: transport::PublisherPtr makerPub;

      private: transport::PublisherPtr requestPub;

      private: JointMaker *jointMaker;

      private: math::Pose origin;

      private: std::vector<rendering::VisualPtr> selectedVisuals;

      private: std::vector<std::string> copiedPartNames;

      private: common::MouseEvent lastMouseEvent;

      private: rendering::VisualPtr inspectVis;

      private: bool active;

      private: std::string manipMode;
    };
  }
}

#endif