ApplyWrenchDialog.hh

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/*
 * Copyright 2015 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_APPLYWRENCHDIALOG_HH_
#define GAZEBO_GUI_APPLYWRENCHDIALOG_HH_

#include <memory>
#include <string>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/MouseEvent.hh"
#include "gazebo/gui/qt.h"

namespace gazebo
{
  namespace gui
  {
    class ApplyWrenchDialogPrivate;


    class GZ_GUI_VISIBLE ApplyWrenchDialog : public QDialog
    {
      Q_OBJECT

      public: enum Mode
      {
        NONE = 0,
        FORCE = 1,
        TORQUE = 2
      };

      public: ApplyWrenchDialog(QWidget *_parent = 0);

      public: ~ApplyWrenchDialog();

      public: void Init(const std::string &_modelName,
          const std::string &_linkName);

      public: void Fini();

      public: Mode GetMode() const;

      private: bool SetModel(const std::string &_modelName);

      private: bool SetLink(const std::string &_linkName);

      private slots: void SetLink(const QString _linkName);

      private slots: void OnApplyAll();

      private slots: void OnApplyForce();

      private slots: void OnApplyTorque();

      private slots: void OnCancel();

      private slots: void ToggleComRadio(bool _checked);

      private slots: void OnForcePosChanged(double _value);

      private slots: void OnForceMagChanged(double _magnitude);

      private slots: void OnForceChanged(double _value);

      private slots: void OnForceClear();

      private slots: void OnTorqueMagChanged(double _magnitude);

      private slots: void OnTorqueChanged(double _value);

      private slots: void OnTorqueClear();

      private slots: void OnManipulation();

      private slots: bool eventFilter(QObject *_object, QEvent *_event);

      private slots: void changeEvent(QEvent *_event);

      private: void SetSpinValue(QDoubleSpinBox *_spin, const double _value);

      private: void SetForcePos(const ignition::math::Vector3d &_forcePos);

      private: void SetForce(const ignition::math::Vector3d &_force,
          const bool _rotatedByMouse = false);

      private: void SetTorque(const ignition::math::Vector3d &_torque,
          const bool _rotatedByMouse = false);

      private: void OnPreRender();

      private: void AttachVisuals();

      private: void SetCoM(const ignition::math::Vector3d &_com);

      private: bool OnMousePress(const common::MouseEvent &_event);

      private: bool OnMouseRelease(const common::MouseEvent &_event);

      private: bool OnMouseMove(const common::MouseEvent &_event);

      private: void SetMode(Mode _mode);

      private: void NewForceDirection(const ignition::math::Vector3d &_dir);

      private: void NewTorqueDirection(const ignition::math::Vector3d &_dir);

      private: void SetActive(bool _active);

      private: void ActivateWindow();

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

#endif