ModelData.hh

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/*
 * Copyright (C) 2013 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_MODEL_DATA_HH_
#define _GAZEBO_MODEL_DATA_HH_

#include <map>
#include <string>
#include <vector>

#include "gazebo/rendering/Visual.hh"
#include "gazebo/gui/model/LinkInspector.hh"

namespace boost
{
  class recursive_mutex;
}

namespace gazebo
{
  namespace gui
  {
    class LinkInspector;
    class ModelPluginInspector;

    class GZ_GUI_VISIBLE ModelData
    {
      public: static std::string GetTemplateSDFString();

      public: static double GetEditTransparency();

      public: static void UpdateRenderGroup(rendering::VisualPtr _visual);
    };

    class GZ_GUI_VISIBLE NestedModelData
    {
      public: void SetName(const std::string &_name);

      public: std::string Name() const;

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

      public: ignition::math::Pose3d Pose() const;

      public: int Depth() const;

      public: sdf::ElementPtr modelSDF;

      public: rendering::VisualPtr modelVisual;

      public: std::map<std::string, rendering::VisualWeakPtr> models;

      public: std::map<std::string, rendering::VisualWeakPtr> links;
    };

    class GZ_GUI_VISIBLE LinkData : public QObject
    {
      Q_OBJECT

      public: LinkData();

      public: ~LinkData();

      public: std::string Name() const;

      public: void SetName(const std::string &_name);

      public: ignition::math::Pose3d Pose() const;

      public: void SetPose(const ignition::math::Pose3d &_pose3d);

      public: void Load(sdf::ElementPtr _sdf);

      public: const std::map<std::string, ignition::math::Vector3d> &Scales()
              const;

      public: void UpdateInspectorScale();

      public: void SetScales(
          const std::map<std::string, ignition::math::Vector3d> &_scales);

      public: void AddVisual(rendering::VisualPtr _visual);

      public: void AddCollision(rendering::VisualPtr _collisionVis,
          const msgs::Collision *_msg = NULL);

      public: void UpdateConfig();

      public: LinkData *Clone(const std::string &_newName);

      public slots: void ShowCollisions(const bool _show);

      public slots: void ShowVisuals(const bool _show);

      public slots: void ShowLinkFrame(const bool _show);

      public: static double ComputeVolume(const msgs::Collision &_collision);

      public: static ignition::math::Vector3d ComputeMomentOfInertia(
          const msgs::Collision &_collision, const double _mass);

      public: double ComputeVolume() const;

      public: void SetLinkVisual(const rendering::VisualPtr _visual);

      public: rendering::VisualPtr LinkVisual() const;

      private: void Update();

      private: bool Apply();

      private slots: void OnAccept();

      private slots: void OnApply();

      private slots: void OnAddVisual(const std::string &_name);

      private slots: void OnAddCollision(const std::string &_name);

      private slots: void OnRemoveVisual(const std::string &_name);

      private slots: void OnRemoveCollision(const std::string &_name);

      private slots: void OnShowCollision(const bool _show,
          const std::string &_name);

      private slots: void OnShowVisual(const bool _show,
          const std::string &_name);

      private slots: void OnInspectorOpened();

      private: std::vector<event::ConnectionPtr> connections;

      private: boost::recursive_mutex *updateMutex;

      public: sdf::ElementPtr linkSDF;

      private: double mass;

      private: double inertiaIxx;

      private: double inertiaIyy;

      private: double inertiaIzz;

      public: std::map<std::string, ignition::math::Vector3d> scales;

      private: rendering::VisualPtr linkVisual;

      public: std::map<rendering::VisualPtr, msgs::Visual> visuals;

      public: std::map<rendering::VisualPtr, msgs::Visual> deletedVisuals;

      public: std::vector<msgs::Visual *> visualUpdateMsgs;

      public: std::vector<msgs::Collision *> collisionUpdateMsgs;

      public: std::map<rendering::VisualPtr, msgs::Collision> collisions;

      public: std::map<rendering::VisualPtr, msgs::Collision> deletedCollisions;

      public: rendering::LinkFrameVisualPtr linkFrameVis;

      public: LinkInspector *inspector;

      public: bool nested;

      public: bool showCollisions = true;

      public: bool showVisuals = true;

      public: bool showLinkFrame = true;
    };

    class GZ_GUI_VISIBLE ModelPluginData : public QObject
    {
      Q_OBJECT

      public: ModelPluginData();

      public: ~ModelPluginData();

      public: void Load(sdf::ElementPtr _pluginElem);

      public: ModelPluginInspector *inspector;

      public: sdf::ElementPtr modelPluginSDF;
    };
  }
}

#endif