AxisVisual.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 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 _AXISVISUAL_HH_
#define _AXISVISUAL_HH_

#include <string>

#include "gazebo/math/Vector3.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE AxisVisual : public Visual
    {
      public: AxisVisual(const std::string &_name, VisualPtr _parent);

      public: virtual ~AxisVisual();

      public: virtual void Load();

      public: void ShowAxisRotation(unsigned int _axis, bool _show);

      public: void ShowAxisShaft(unsigned int _axis, bool _show);

      public: void ShowAxisHead(unsigned int _axis, bool _show);

      public: void ScaleXAxis(const math::Vector3 &_scale);

      public: void ScaleYAxis(const math::Vector3 &_scale);

      public: void ScaleZAxis(const math::Vector3 &_scale);

      public: void SetAxisMaterial(unsigned int _axis,
                                   const std::string &_material);

      public: void SetAxisVisible(unsigned int _axis, bool _visible);

      protected: AxisVisual(VisualPrivate &_dataPtr,
          const std::string &_name, VisualPtr _parent);
    };
  }
}
#endif