LinkConfig.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_LINK_CONFIG_HH_
#define _GAZEBO_LINK_CONFIG_HH_

#include <string>

#include "gazebo/math/Pose.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/gui/qt.h"

namespace gazebo
{
  namespace gui
  {
    class ConfigWidget;


    class GZ_GUI_VISIBLE LinkConfig : public QWidget
    {
      Q_OBJECT

      public: LinkConfig();

      public: virtual ~LinkConfig();

      public: void Update(ConstLinkPtr _linkMsg);

      public: msgs::Link *GetData() const;

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

      public: void SetMass(const double _mass);

      public: double Mass() const;

      public: void SetDensity(const double _density);

      public: double Density() const;

      public: void SetInertiaMatrix(const double _ixx, const double _iyy,
          const double _izz, const double _ixy, const double _ixz,
          const double _iyz);

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

      public: const ConfigWidget *LinkConfigWidget() const;

      public: void Init();

      public slots: void RestoreOriginalData();

      Q_SIGNALS: void Applied();

      Q_SIGNALS: void DensityValueChanged(const double _value);

      Q_SIGNALS: void MassValueChanged(const double _value);

      private slots: void OnDensityValueChanged(const double _value);

      private slots: void OnMassValueChanged(const double _value);

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

      private: ConfigWidget *configWidget;

      private: msgs::Link originalDataMsg;
    };
  }
}
#endif