ModelSnap.hh

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/*
 * Copyright (C) 2014 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_MODELSNAP_HH_
#define GAZEBO_GUI_MODELSNAP_HH_

#include <memory>
#include <vector>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Triangle3.hh>

#include "gazebo/common/SingletonT.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    class MouseEvent;
  }

  namespace math
  {
    class Pose;
    class Quaternion;
    class Vector3;
  }

  namespace gui
  {
    class ModelSnapPrivate;

    class GZ_GUI_VISIBLE ModelSnap : public SingletonT<ModelSnap>
    {
      private: ModelSnap();

      private: virtual ~ModelSnap();

      public: void Init();

      public: void Clear();

      public: void Reset();

      public: void Fini();

      public: void Snap(const std::vector<math::Vector3> &_triangleSrc,
          const std::vector<math::Vector3> &_triangleDest,
          rendering::VisualPtr _visualSrc) GAZEBO_DEPRECATED(8.0);

      public: void Snap(
          const ignition::math::Triangle3d &_triangleSrc,
          const ignition::math::Triangle3d &_triangleDest,
          rendering::VisualPtr _visualSrc);

      public: void GetSnapTransform(
          const std::vector<math::Vector3> &_triangleSrc,
          const std::vector<math::Vector3> &_triangleDest,
          const math::Pose &_poseSrc, math::Vector3 &_trans,
          math::Quaternion &_rot) GAZEBO_DEPRECATED(8.0);

      public: static void SnapTransform(
          const ignition::math::Triangle3d &_triangleSrc,
          const ignition::math::Triangle3d &_triangleDest,
          const ignition::math::Pose3d &_poseSrc,
          ignition::math::Vector3d &_trans,
          ignition::math::Quaterniond &_rot);

      public: void OnMousePressEvent(const common::MouseEvent &_event);

      public: void OnMouseMoveEvent(const common::MouseEvent &_event);

      public: void OnMouseReleaseEvent(const common::MouseEvent &_event);

      private: void PublishVisualPose(rendering::VisualPtr _vis);

      private: void Update();

      private: friend class SingletonT<ModelSnap>;

      private: std::unique_ptr<ModelSnapPrivate> dataPtr;
    };
  }
}
#endif