CollisionConfig.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_COLLISION_CONFIG_HH_
#define _GAZEBO_COLLISION_CONFIG_HH_

#include <map>
#include <string>

#include "gazebo/gui/qt.h"
#include "gazebo/gui/model/ModelData.hh"

namespace gazebo
{
  namespace gui
  {
    class ConfigWidget;


    class CollisionConfigData : public QWidget
    {
      Q_OBJECT

      public slots: void RestoreOriginalData();

      private slots: void OnToggleItem(bool _checked);

      private slots: void OnGeometryChanged();

      Q_SIGNALS: void CollisionChanged(const std::string &_name,
          const std::string &_type);

      public: int id;

      public: std::string name;

      public: ConfigWidget *configWidget;

      public: QWidget *widget;

      public: msgs::Collision originalDataMsg;
    };

    class GZ_GUI_VISIBLE CollisionConfig : public QWidget
    {
      Q_OBJECT

      public: CollisionConfig();

      public: ~CollisionConfig();

      public: void Init();

      public slots: void RestoreOriginalData();

      public: void AddCollision(const std::string &_name,
          const msgs::Collision *_collisionMsg = NULL);

      public: void UpdateCollision(const std::string &_name,
          ConstCollisionPtr _collisionMsg);

      public: void Reset();

      public: unsigned int GetCollisionCount() const;

      public: msgs::Collision *GetData(const std::string &_name) const;

      public: void SetGeometry(const std::string &_name,
          const ignition::math::Vector3d &_size, const std::string &_uri = "");

      public: void Geometry(const std::string &_name,
          ignition::math::Vector3d &_size, std::string &_uri) const;

      public: const std::map<int, CollisionConfigData *> &ConfigData() const;

      Q_SIGNALS: void CollisionRemoved(const std::string &_name);

      Q_SIGNALS: void CollisionAdded(const std::string &_name);

      Q_SIGNALS: void Applied();

      private slots: void OnAddCollision();

      private slots: void OnRemoveCollision(int _id);

      private slots: void OnPoseChanged(const QString &_name,
          const ignition::math::Pose3d &_value);

      private slots: void OnCollisionChanged(
          const std::string &_name, const std::string &_type);

      Q_SIGNALS: void CollisionChanged(
          const std::string &_name, const std::string &_type);

      private slots: void OnGeometryChanged(const std::string &_name,
          const std::string &_value,
          const ignition::math::Vector3d &_dimensions,
          const std::string &_uri);

      private: std::map<int, CollisionConfigData *> configs;

      private: int counter;

      private:  QSignalMapper *signalMapper;

      private: std::map<int, QTreeWidgetItem *> collisionItems;

      private: QVBoxLayout *listLayout;
    };
  }
}
#endif