ApplyWrenchDialogPrivate.hh

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/*
 * Copyright (C) 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 _GAZEBO_APPLY_WRENCH_DIALOG_PRIVATE_HH_
#define _GAZEBO_APPLY_WRENCH_DIALOG_PRIVATE_HH_

#include <string>
#include <vector>
#include <map>
#include <mutex>

#include "gazebo/gui/qt.h"
#include "gazebo/gui/ApplyWrenchDialog.hh"

namespace gazebo
{
  namespace gui
  {
    class ApplyWrenchDialogPrivate
    {
      public: transport::NodePtr node;

      public: std::string modelName;

      public: std::string linkName;

      public: QLabel *modelLabel;

      public: QComboBox *linksComboBox;

      public: QRadioButton *comRadio;

      public: QRadioButton *forcePosRadio;

      public: QDoubleSpinBox *forcePosXSpin;

      public: QDoubleSpinBox *forcePosYSpin;

      public: QDoubleSpinBox *forcePosZSpin;

      public: QDoubleSpinBox *forceMagSpin;

      public: QDoubleSpinBox *forceXSpin;

      public: QDoubleSpinBox *forceYSpin;

      public: QDoubleSpinBox *forceZSpin;

      public: QDoubleSpinBox *torqueMagSpin;

      public: QDoubleSpinBox *torqueXSpin;

      public: QDoubleSpinBox *torqueYSpin;

      public: QDoubleSpinBox *torqueZSpin;

      public: math::Vector3 comVector;

      public: math::Vector3 forcePosVector;

      public: math::Vector3 forceVector;

      public: math::Vector3 torqueVector;

      public: transport::PublisherPtr wrenchPub;

      public: rendering::VisualPtr linkVisual;

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

      public: std::map<std::string, math::Vector3> linkToCOMMap;

      public: rendering::ApplyWrenchVisualPtr applyWrenchVisual;

      public: bool draggingTool;

      public: math::Pose dragStartPose;

      public: std::string manipState;

      public: ApplyWrenchDialog::Mode mode;

      public: std::mutex mutex;

      public: MainWindow *mainWindow;
    };
  }
}
#endif