ApplyWrenchVisual.hh

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/*
 * Copyright (C) 2015-2016 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_APPLYWRENCHVISUAL_HH_
#define _GAZEBO_APPLYWRENCHVISUAL_HH_

#include <string>

#include "gazebo/rendering/Visual.hh"

namespace gazebo
{
  namespace rendering
  {

    class GAZEBO_VISIBLE ApplyWrenchVisual : public Visual
    {
      public: enum Mode
      {
        NONE = 0,
        FORCE = 1,
        TORQUE = 2
      };

      public: ApplyWrenchVisual(const std::string &_name, VisualPtr _parentVis);

      public: virtual ~ApplyWrenchVisual();

      // Documentation inherited.
      public: void Load();

      // Documentation inherited.
      public: virtual void Fini();

      public: void SetCoM(const math::Vector3 &_comVector)
              GAZEBO_DEPRECATED(7.0);

      public: void SetCoM(const ignition::math::Vector3d &_comVector);

      public: void SetForcePos(const math::Vector3 &_forcePosVector)
              GAZEBO_DEPRECATED(7.0);

      public: void SetForcePos(const ignition::math::Vector3d &_forcePosVector);

      public: void SetForce(const math::Vector3 &_forceVector,
          const bool _rotatedByMouse) GAZEBO_DEPRECATED(7.0);

      public: void SetForce(const ignition::math::Vector3d &_forceVector,
          const bool _rotatedByMouse);

      public: void SetTorque(const math::Vector3 &_torqueVector,
          const bool _rotatedByMouse) GAZEBO_DEPRECATED(7.0);

      public: void SetTorque(const ignition::math::Vector3d &_torqueVector,
          const bool _rotatedByMouse);

      public: void UpdateForceVisual();

      public: void UpdateTorqueVisual();

      public: void Resize();

      public: rendering::VisualPtr GetForceVisual() const;

      public: rendering::VisualPtr GetTorqueVisual() const;

      public: rendering::SelectionObjPtr GetRotTool() const;

      public: void SetMode(Mode _mode);

      private: ignition::math::Quaterniond QuaternionFromVector(
          const ignition::math::Vector3d &_dir);
    };
  }
}
#endif