JointInspector.hh

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/*
 * Copyright (C) 2014-2016 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_GUI_JOINT_INSPECTOR_HH_
#define _GAZEBO_GUI_JOINT_INSPECTOR_HH_

#include <memory>
#include <string>

#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/gui/qt.h"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class JointMaker;

    // Forward declare private data.
    class JointInspectorPrivate;

    class GZ_GUI_VISIBLE JointInspector : public QDialog
    {
      Q_OBJECT

      public: JointInspector(JointMaker *_jointMaker, QWidget *_parent = 0);

      public: ~JointInspector();

      public: void Update(ConstJointPtr _jointMsg);

      public: msgs::Joint *Data() const;

      public: void SetPose(const ignition::math::Pose3d &_pose);

      public: void Open();

      public: void SetJointId(const std::string &_id);

      protected: virtual void enterEvent(QEvent *_event);

      private slots: void OnEnumChanged(const QString &_name,
          const QString &_value);

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

      private slots: void OnVector3dChanged(const QString &_name,
          const ignition::math::Vector3d &_value);

      private slots: void OnStringChanged(const QString &_name,
          const std::string &_value);

      private: void OnJointTypeChanged(const QString &_value);

      private: void OnLinksChanged(const QString &_linkName = "");

      private slots: void OnSwap();

      private slots: void OnLinkInserted(const std::string &_linkName);

      private slots: void OnLinkRemoved(const std::string &_linkName);

      Q_SIGNALS: void Applied();

      private slots: void OnRemove();

      private slots: void OnCancel();

      private slots: void OnOK();

      private slots: void RestoreOriginalData();

      private: void keyPressEvent(QKeyEvent *_event);

      private: bool CheckValid();

      private: void closeEvent(QCloseEvent *_event);

      private: std::unique_ptr<JointInspectorPrivate> dataPtr;
    };
  }
}

#endif