ModelManipulator.hh
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2  * Copyright (C) 2012-2016 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.
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17 #ifndef _GAZEBO_GUI_MODEL_MANIPULATOR_HH_
18 #define _GAZEBO_GUI_MODEL_MANIPULATOR_HH_
19 
20 #include <string>
21 
22 #include "gazebo/math/Vector2i.hh"
23 #include "gazebo/math/Vector3.hh"
24 #include "gazebo/math/Pose.hh"
25 
28 
30 
32 #include "gazebo/util/system.hh"
33 
34 namespace gazebo
35 {
36  namespace gui
37  {
38  class ModelManipulatorPrivate;
39 
43  class GZ_GUI_VISIBLE ModelManipulator : public SingletonT<ModelManipulator>
44  {
46  private: ModelManipulator();
47 
49  private: virtual ~ModelManipulator();
50 
52  public: void Init();
53 
56  public: void Clear();
57 
59  public: void Detach();
60 
63  public: void SetManipulationMode(const std::string &_mode);
64 
66  public: void SetAttachedVisual(rendering::VisualPtr _vis);
67 
70  public: void OnMousePressEvent(const common::MouseEvent &_event);
71 
74  public: void OnMouseMoveEvent(const common::MouseEvent &_event);
75 
78  public: void OnMouseReleaseEvent(const common::MouseEvent &_event);
79 
82  public: void OnKeyPressEvent(const common::KeyEvent &_event);
83 
86  public: void OnKeyReleaseEvent(const common::KeyEvent &_event);
87 
92  public: void RotateEntity(rendering::VisualPtr &_vis,
93  const math::Vector3 &_axis,
94  bool _local = false);
95 
100  public: void TranslateEntity(rendering::VisualPtr &_vis,
101  const math::Vector3 &_axis,
102  bool _local = false);
103 
108  public: void ScaleEntity(rendering::VisualPtr &_vis,
109  const math::Vector3 &_axis,
110  bool _local = false);
111 
120  public: static math::Vector3 SnapPoint(const math::Vector3 &_point,
121  double _interval = 1.0, double _sensitivity = 0.4);
122 
128  public: static math::Vector3 GetMousePositionOnPlane(
129  rendering::CameraPtr _camera,
130  const common::MouseEvent &_event);
131 
140  public: static math::Vector3 GetMouseMoveDistance(
141  rendering::CameraPtr _camera,
142  const math::Vector2i &_start, const math::Vector2i &_end,
143  const math::Pose &_pose, const math::Vector3 &_axis,
144  bool _local);
145 
151  private: math::Vector3 GetMouseMoveDistance(const math::Pose &_pose,
152  const math::Vector3 &_axis, bool _local) const;
153 
156  private: void SetMouseMoveVisual(rendering::VisualPtr _vis);
157 
160  private: void PublishVisualPose(rendering::VisualPtr _vis);
161 
164  private: void PublishVisualScale(rendering::VisualPtr _vis);
165 
172  private: math::Vector3 UpdateScale(const math::Vector3 &_axis,
173  const math::Vector3 &_scale, const std::string &_geom);
174 
176  private: friend class SingletonT<ModelManipulator>;
177 
180  private: ModelManipulatorPrivate *dataPtr;
181  };
182  }
183 }
184 #endif
Generic description of a mouse event.
Definition: MouseEvent.hh:35
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
#define GZ_GUI_VISIBLE
Definition: system.hh:284
Generic integer x, y vector.
Definition: Vector2i.hh:36
Generic description of a keyboard event.
Definition: KeyEvent.hh:32
Singleton template class.
Definition: SingletonT.hh:33
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:88
Private data for the ModelManipulator class.
Definition: ModelManipulatorPrivate.hh:35
Manipulator tool for translating/rotating/scaling models and links.
Definition: ModelManipulator.hh:43
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.