WrenchVisual.hh

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/*
 * Copyright 2012 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 _WRENCHVISUAL_HH_
#define _WRENCHVISUAL_HH_

#include <string>
#include <vector>

#include "gazebo/rendering/Visual.hh"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/transport/TransportTypes.hh"

namespace gazebo
{
  namespace rendering
  {

    class DynamicLines;

    class WrenchVisual : public Visual
    {
      public: WrenchVisual(const std::string &_name, VisualPtr _vis,
                          const std::string &_topicName);

      public: virtual ~WrenchVisual();

      public: void Load(ConstJointPtr &_msg);

      public: void SetEnabled(bool _enabled);

      private: void OnMsg(ConstWrenchStampedPtr &_msg);

      private: void Update();

      private: transport::NodePtr node;

      private: transport::SubscriberPtr wrenchSub;

      private: Ogre::SceneNode *coneXNode;

      private: Ogre::SceneNode *coneYNode;

      private: Ogre::SceneNode *coneZNode;

      private: Ogre::SceneNode *forceNode;

      private: DynamicLines *forceLine;

      private: boost::shared_ptr<msgs::WrenchStamped const> wrenchMsg;

      private: bool receivedMsg;

      private: bool enabled;

      private: boost::mutex mutex;

      private: std::vector<event::ConnectionPtr> connections;
    };
  }
}
#endif