CollisionConfig.hh
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1 /*
2  * Copyright (C) 2015-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_COLLISION_CONFIG_HH_
19 #define _GAZEBO_COLLISION_CONFIG_HH_
20 
21 #include <map>
22 #include <string>
23 
24 #include "gazebo/gui/qt.h"
26 
27 namespace gazebo
28 {
29  namespace gui
30  {
31  class ConfigWidget;
32 
35 
38  class CollisionConfigData : public QWidget
39  {
40  Q_OBJECT
41 
43  public slots: void RestoreOriginalData();
44 
47  private slots: void OnToggleItem(bool _checked);
48 
50  public: int id;
51 
53  public: std::string name;
54 
57 
59  public: QWidget *widget;
60 
63  public: msgs::Collision originalDataMsg;
64  };
65 
68  class GZ_GUI_VISIBLE CollisionConfig : public QWidget
69  {
70  Q_OBJECT
71 
73  public: CollisionConfig();
74 
76  public: ~CollisionConfig();
77 
79  public: void Init();
80 
82  public slots: void RestoreOriginalData();
83 
88  public: void AddCollision(const std::string &_name,
89  const msgs::Collision *_collisionMsg = NULL);
90 
95  public: void UpdateCollision(const std::string &_name,
96  ConstCollisionPtr _collisionMsg);
97 
99  public: void Reset();
100 
103  public: unsigned int GetCollisionCount() const;
104 
108  public: msgs::Collision *GetData(const std::string &_name) const;
109 
114  public: void SetGeometry(const std::string &_name,
115  const ignition::math::Vector3d &_size, const std::string &_uri = "");
116 
121  public: void Geometry(const std::string &_name,
122  ignition::math::Vector3d &_size, std::string &_uri) const;
123 
126  public: const std::map<int, CollisionConfigData *> &ConfigData() const;
127 
130  Q_SIGNALS: void CollisionRemoved(const std::string &_name);
131 
134  Q_SIGNALS: void CollisionAdded(const std::string &_name);
135 
137  Q_SIGNALS: void Applied();
138 
140  private slots: void OnAddCollision();
141 
144  private slots: void OnRemoveCollision(int _id);
145 
150  private slots: void OnPoseChanged(const QString &_name,
151  const ignition::math::Pose3d &_value);
152 
159  private slots: void OnGeometryChanged(const std::string &_name,
160  const std::string &_value,
161  const ignition::math::Vector3d &_dimensions,
162  const std::string &_uri);
163 
165  private: std::map<int, CollisionConfigData *> configs;
166 
168  private: int counter;
169 
171  private: QSignalMapper *signalMapper;
172 
174  private: std::map<int, QTreeWidgetItem *> collisionItems;
175 
177  private: QVBoxLayout *listLayout;
178  };
180  }
181 }
182 #endif
#define GZ_GUI_VISIBLE
Definition: system.hh:284
A class of widgets used for configuring collision properties.
Definition: CollisionConfig.hh:38
A widget generated from a google protobuf message.
Definition: ConfigWidget.hh:147
std::string name
Name of the collision.
Definition: CollisionConfig.hh:53
msgs::Collision originalDataMsg
Message containing the data which was in the widget when first open.
Definition: CollisionConfig.hh:63
QWidget * widget
Widget associated with this data.
Definition: CollisionConfig.hh:59
void RestoreOriginalData()
Restore the widget's data to how it was when first opened.
ConfigWidget * configWidget
Config widget for configuring collision properties.
Definition: CollisionConfig.hh:56
#define NULL
Definition: CommonTypes.hh:31
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A tab for configuring collision properties of a link.
Definition: CollisionConfig.hh:68
int id
Unique ID of this collision config.
Definition: CollisionConfig.hh:50