LinkConfig.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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_LINK_CONFIG_HH_
19 #define _GAZEBO_LINK_CONFIG_HH_
20 
21 #include <string>
22 
23 #include "gazebo/math/Pose.hh"
24 #include "gazebo/msgs/msgs.hh"
25 
26 #include "gazebo/gui/qt.h"
27 
28 namespace gazebo
29 {
30  namespace gui
31  {
32  class ConfigWidget;
33 
36 
39  class GZ_GUI_VISIBLE LinkConfig : public QWidget
40  {
41  Q_OBJECT
42 
44  public: LinkConfig();
45 
47  public: ~LinkConfig();
48 
51  public: void Update(ConstLinkPtr _linkMsg);
52 
55  public: msgs::Link *GetData() const;
56 
59  public: void SetPose(const ignition::math::Pose3d &_pose);
60 
63  public: void SetMass(const double _mass);
64 
72  public: void SetInertiaMatrix(const double _ixx, const double _iyy,
73  const double _izz, const double _ixy, const double _ixz,
74  const double _iyz);
75 
78  public: void SetInertialPose(const ignition::math::Pose3d &_pose);
79 
82  public: const ConfigWidget *LinkConfigWidget() const;
83 
85  public: void Init();
86 
88  public slots: void RestoreOriginalData();
89 
91  Q_SIGNALS: void Applied();
92 
97  private slots: void OnPoseChanged(const QString &_name,
98  const ignition::math::Pose3d &_value);
99 
101  private: ConfigWidget *configWidget;
102 
105  private: msgs::Link originalDataMsg;
106  };
108  }
109 }
110 #endif
#define GZ_GUI_VISIBLE
Definition: system.hh:284
A widget generated from a google protobuf message.
Definition: ConfigWidget.hh:147
A tab for configuring properties of a link.
Definition: LinkConfig.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.