Create and manage 3D visuals of a building. More...

#include <BuildingMaker.hh>

Inheritance diagram for gazebo::gui::BuildingMaker:

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

virtual	~BuildingMaker ()
	Destructor. More...

std::string	AddDoor (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a door to the model. More...

std::string	AddFloor (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a floor to the model. More...

std::string	AddPart (const std::string &_type, const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a building part to the model. More...

std::string	AddStairs (const QVector3D &_size, const QVector3D &_pos, double _angle, int _steps)
	Add a staircase to the model. More...

std::string	AddWall (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a wall to the model. More...

std::string	AddWindow (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a window to the model. More...

void	AttachManip (const std::string &_child, const std::string &_parent)
	Attach a building part to another, this is currently used for making holes in walls and floors. More...

void	BuildingChanged ()
	Set save state upon a change to the building. More...

void	ConnectItem (const std::string &_partName, const EditorItem *_item)
	Connect the 2D editor item Qt signals to the 3D building part. More...

void	DetachAllChildren (const std::string &_manip)
	Detach all child building parts from the given manip. More...

void	DetachManip (const std::string &_child, const std::string &_parent)
	Detach a child building part from its parent. More...

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

void	GenerateConfig ()
	Generate the config file. More...

void	GenerateSDF ()
	Generate the SDF from building part visuals. More...

virtual bool	IsActive () const
	Checks if entity is active. More...

void	OnEdit (bool _checked)
	QT callback when entering or leaving building edit mode. More...

void	RemovePart (const std::string &_partName)
	Remove a building part from the model. More...

void	RemoveWall (const std::string &_wallName)
	Remove a wall from the model. More...

void	Reset ()
	Reset the building maker and the SDF. More...

void	SaveToConfig (const std::string &_savePath)
	Save config file. More...

void	SaveToSDF (const std::string &_savePath)
	Save model to SDF format. More...

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

virtual void	Start (const rendering::UserCameraPtr _camera)

virtual void	Stop ()

Public Member Functions inherited from gazebo::gui::EntityMaker
	EntityMaker ()
	Constructor. More...

virtual	~EntityMaker ()
	Destructor. More...

virtual void	OnMouseDrag (const common::MouseEvent &_event)
	Callback for dragging with mouse. More...

virtual void	OnMouseMove (const common::MouseEvent &_event)
	Callback when moving mouse. More...

virtual void	OnMousePush (const common::MouseEvent &_event)
	Callback for pushing entity with mouse. More...

virtual void	OnMouseRelease (const common::MouseEvent &_event)
	Callback for releasing mouse button. More...

Static Public Member Functions
static double	Convert (double _value)

static double	ConvertAngle (double _angle)
	Convert an angle from editor unit to Gazebo unit. More...

static math::Pose	ConvertPose (const QVector3D &_pos, const QVector3D &_rot)
	Helper method to convert pose from editor coordinate system to Gazebo coordinate system. More...

static math::Pose	ConvertPose (double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
	Helper method to convert pose from editor coordinate system to Gazebo coordinate system. More...

static math::Vector3	ConvertSize (const QVector3D &_size)
	Helper method to convert size from editor coordinate system to Gazebo coordinate system. More...

static math::Vector3	ConvertSize (double _width, double _depth, double _height)
	Helper method to convert size from editor coordinate system to Gazebo coordinate system. More...

Static Public Member Functions inherited from gazebo::gui::EntityMaker
static void	SetSnapToGrid (bool _snap)
	Set whether to snap to grid. More...

Static Public Attributes
static double	conversionScale
	Conversion scale used by the Convert helper functions. More...

Additional Inherited Members
Public Types inherited from gazebo::gui::EntityMaker
typedef boost::function< void(const math::Vector3 &pos, const math::Vector3 &scale)>	CreateCallback

Protected Member Functions inherited from gazebo::gui::EntityMaker
math::Vector3	GetSnappedPoint (math::Vector3 _p)
	Get a point snapped to a grid. More...

Protected Attributes inherited from gazebo::gui::EntityMaker
rendering::UserCameraPtr	camera

CreateCallback	createCB

transport::PublisherPtr	makerPub

transport::NodePtr	node

transport::PublisherPtr	requestPub

transport::PublisherPtr	visPub

Detailed Description

Create and manage 3D visuals of a building.

Constructor & Destructor Documentation

gazebo::gui::BuildingMaker::BuildingMaker ( )

Constructor.

virtual gazebo::gui::BuildingMaker::~BuildingMaker ( )

virtual

Destructor.

Member Function Documentation

std::string gazebo::gui::BuildingMaker::AddDoor	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a door to the model.

Parameters

[in]	_size	Size of the door.
[in]	_pos	Position of the door in pixel coordinates.
[in]	_angle	Yaw rotation of the door in degrees.

Returns: Name of the 3D door that has been added.

std::string gazebo::gui::BuildingMaker::AddFloor	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a floor to the model.

Parameters

[in]	_size	Size of the floor.
[in]	_pos	Position of the floor in pixel coordinates.
[in]	_angle	Yaw rotation of the floor in radians.

Returns: Name of the 3D floor that has been added.

std::string gazebo::gui::BuildingMaker::AddPart	(	const std::string &	_type,
		const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a building part to the model.

Parameters

[in]	_type	Type of the building part.
[in]	_size	Size of the building part.
[in]	_pos	Position of the building part in pixel coordinates.
[in]	_angle	Yaw rotation of the building part in degrees.

Returns: Name of the 3D building part that has been added.

std::string gazebo::gui::BuildingMaker::AddStairs	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle,
		int	_steps
	)

Add a staircase to the model.

Parameters

[in]	_size	Size of the staircase.
[in]	_pos	Position of the staircase in pixel coordinates.
[in]	_angle	Yaw rotation of the staircase in degrees.
[in]	_steps	Number of steps in the staircase.

Returns: Name of the 3D staircase that has been added.

std::string gazebo::gui::BuildingMaker::AddWall	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a wall to the model.

Parameters

[in]	_size	Size of the wall.
[in]	_pos	Position of the wall in pixel coordinates.
[in]	_angle	Yaw rotation of the wall in degrees.

Returns: Name of the 3D wall that has been added.

std::string gazebo::gui::BuildingMaker::AddWindow	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a window to the model.

Parameters

[in]	_size	Size of the window.
[in]	_pos	Position of the window in pixel coordinates.
[in]	_angle	Yaw rotation of the window in degrees.

Returns: Name of the 3D window that has been added.

void gazebo::gui::BuildingMaker::AttachManip	(	const std::string &	_child,
		const std::string &	_parent
	)

Attach a building part to another, this is currently used for making holes in walls and floors.

Parameters

[in]	_child	Name of the child building part
[in]	_parent	Name of the parent building part.

void gazebo::gui::BuildingMaker::BuildingChanged ( )

Set save state upon a change to the building.

void gazebo::gui::BuildingMaker::ConnectItem	(	const std::string &	_partName,
		const EditorItem *	_item
	)

Connect the 2D editor item Qt signals to the 3D building part.

Parameters

[in]	_partName	Name of the 3D building part
[in]	_item	2D editor item.

static double gazebo::gui::BuildingMaker::Convert ( double _value )

static

Parameters

[in]	_value	Convert a value from pixels to metric units
[in]	_value	Value in pixels.

Returns: Value in metric units.

static double gazebo::gui::BuildingMaker::ConvertAngle ( double _angle )

static

Convert an angle from editor unit to Gazebo unit.

Parameters

[in] _angle Angle in degrees.

Returns: Angle in radians.

static math::Pose gazebo::gui::BuildingMaker::ConvertPose	(	const QVector3D &	_pos,
		const QVector3D &	_rot
	)

static

Helper method to convert pose from editor coordinate system to Gazebo coordinate system.

Parameters

[in]	_pos	Position in pixels.
[in]	_rot	Rotation in degrees.

Returns: Pose with position in metric units and rotation in radians.

static math::Pose gazebo::gui::BuildingMaker::ConvertPose	(	double	_x,
		double	_y,
		double	_z,
		double	_roll,
		double	_pitch,
		double	_yaw
	)

static

Helper method to convert pose from editor coordinate system to Gazebo coordinate system.

Parameters

[in]	_x	X position in pixels.
[in]	_y	Y position in pixels.
[in]	_y	Z position in pixels.
[in]	_roll	Roll rotation in degrees.
[in]	_pitch	Pitch rotation in degrees.
[in]	_yaw	Yaw rotation in degrees.

Returns: Pose with position in metric units and rotation in radians.

static math::Vector3 gazebo::gui::BuildingMaker::ConvertSize ( const QVector3D & _size )

static

Helper method to convert size from editor coordinate system to Gazebo coordinate system.

Parameters

[in] _size Size vector in pixels.

Returns: Size in metric units.

static math::Vector3 gazebo::gui::BuildingMaker::ConvertSize	(	double	_width,
		double	_depth,
		double	_height
	)

static

Helper method to convert size from editor coordinate system to Gazebo coordinate system.

Parameters

[in]	_width	Width in pixels.
[in]	_depth	Depth in pixels.
[in]	_height	Height in pixels.

Returns: Size in metric units.

void gazebo::gui::BuildingMaker::DetachAllChildren ( const std::string & _manip )

Detach all child building parts from the given manip.

Parameters

[in] _manip Name of the building part.

void gazebo::gui::BuildingMaker::DetachManip	(	const std::string &	_child,
		const std::string &	_parent
	)

Detach a child building part from its parent.

Parameters

[in]	_child	Name of the child building part.
[in]	_parent	Name of the parent building part.

void gazebo::gui::BuildingMaker::FinishModel ( )

Finish the model and create the entity on the gzserver.

void gazebo::gui::BuildingMaker::GenerateConfig ( )

Generate the config file.

void gazebo::gui::BuildingMaker::GenerateSDF ( )

Generate the SDF from building part visuals.

virtual bool gazebo::gui::BuildingMaker::IsActive ( ) const

virtual

Checks if entity is active.

Implements gazebo::gui::EntityMaker.

void gazebo::gui::BuildingMaker::OnEdit ( bool _checked )

QT callback when entering or leaving building edit mode.

Parameters

[in] _checked True if the menu item is checked

void gazebo::gui::BuildingMaker::RemovePart ( const std::string & _partName )

Remove a building part from the model.

Parameters

[in] _partName Name of the building part to remove

void gazebo::gui::BuildingMaker::RemoveWall ( const std::string & _wallName )

Remove a wall from the model.

Parameters

[in] _partName Name of the wall to remove

void gazebo::gui::BuildingMaker::Reset ( )

Reset the building maker and the SDF.

void gazebo::gui::BuildingMaker::SaveToConfig ( const std::string & _savePath )

Save config file.

Parameters

[in] _savePath Path to save the file to.

void gazebo::gui::BuildingMaker::SaveToSDF ( const std::string & _savePath )

Save model to SDF format.

Parameters

[in] _savePath Path to save the SDF to.

void gazebo::gui::BuildingMaker::SetModelName ( const std::string & _modelName )

Set the name of this building model.

Parameters

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

virtual void gazebo::gui::BuildingMaker::Start ( const rendering::UserCameraPtr _camera )

virtual

Parameters

[in] _camera Pointer to the user camera

Implements gazebo::gui::EntityMaker.

virtual void gazebo::gui::BuildingMaker::Stop ( )

virtual

Implements gazebo::gui::EntityMaker.

Member Data Documentation

double gazebo::gui::BuildingMaker::conversionScale

static

Conversion scale used by the Convert helper functions.

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

BuildingMaker.hh

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation