Create and manage 3D visuals of a building. More...

#include <BuildingMaker.hh>

Public Member Functions
	BuildingMaker ()
	Constructor. More...

	~BuildingMaker ()
	Destructor. More...

std::string	AddDoor (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a door to the model. More...

std::string	AddFloor (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a floor to the model. More...

std::string	AddPart (const std::string &_type, const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a building part to the model. More...

std::string	AddStairs (const QVector3D &_size, const QVector3D &_pos, double _angle, int _steps)
	Add a staircase to the model. More...

std::string	AddWall (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a wall to the model. More...

std::string	AddWindow (const QVector3D &_size, const QVector3D &_pos, double _angle)
	Add a window to the model. More...

void	AttachManip (const std::string &_child, const std::string &_parent)
	Attach a building part to another, this is currently used for making holes in walls and floors. More...

void	BuildingChanged ()
	Set save state upon a change to the building. More...

void	ConnectItem (const std::string &_partName, const EditorItem *_item)
	Connect the 2D editor item Qt signals to the 3D building part. More...

void	DetachAllChildren (const std::string &_parent)
	Detach all child building parts from the given manip. More...

void	DetachFromParent (const std::string &_child)
	Detach a child building part from its parent. More...

void	FinishModel ()
	Finish the model and create the entity on the gzserver. More...

void	GenerateSDF ()
	Generate the SDF from building part visuals. More...

bool	IsAttached (const std::string &_child) const
	Whether the given manip is attached to another manip or not. More...

BuildingModelManip *	ManipByName (const std::string &_name)
	Detach all child building parts from the given manip. More...

std::string	ModelSDF () const
	Get the last generated SDF as string. More...

void	OnEdit (bool _checked)
	QT callback when entering or leaving building edit mode. More...

void	RemovePart (const std::string &_partName)
	Remove a building part from the model. More...

void	RemoveWall (const std::string &_wallName)
	Remove a wall from the model. More...

void	Reset ()
	Reset the building maker and the SDF. More...

void	SetModelName (const std::string &_modelName)
	Set the name of this building model. More...

Static Public Member Functions
static double	Convert (double _value)

static double	ConvertAngle (double _angle)
	Convert an angle from editor unit to Gazebo unit. More...

static ignition::math::Pose3d	ConvertPose (const double _x, const double _y, const double _z, const double _roll, const double _pitch, const double _yaw)
	Helper method to convert pose from editor coordinate system to Gazebo coordinate system. More...

static ignition::math::Vector3d	ConvertSize (const double _width, const double _depth, const double _height)
	Helper method to convert size from editor coordinate system to Gazebo coordinate system. More...

Static Public Attributes
static const double	conversionScale
	Conversion scale used by the Convert helper functions. More...

Detailed Description

Create and manage 3D visuals of a building.

Constructor & Destructor Documentation

BuildingMaker ( )

Constructor.

~BuildingMaker ( )

Destructor.

Member Function Documentation

std::string AddDoor	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a door to the model.

Parameters

[in]	_size	Size of the door.
[in]	_pos	Position of the door in pixel coordinates.
[in]	_angle	Yaw rotation of the door in degrees.

Returns: Name of the 3D door that has been added.

std::string AddFloor	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a floor to the model.

Parameters

[in]	_size	Size of the floor.
[in]	_pos	Position of the floor in pixel coordinates.
[in]	_angle	Yaw rotation of the floor in radians.

Returns: Name of the 3D floor that has been added.

std::string AddPart	(	const std::string &	_type,
		const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a building part to the model.

Parameters

[in]	_type	Type of the building part.
[in]	_size	Size of the building part.
[in]	_pos	Position of the building part in pixel coordinates.
[in]	_angle	Yaw rotation of the building part in degrees.

Returns: Name of the 3D building part that has been added.

std::string AddStairs	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle,
		int	_steps
	)

Add a staircase to the model.

Parameters

[in]	_size	Size of the staircase.
[in]	_pos	Position of the staircase in pixel coordinates.
[in]	_angle	Yaw rotation of the staircase in degrees.
[in]	_steps	Number of steps in the staircase.

Returns: Name of the 3D staircase that has been added.

std::string AddWall	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a wall to the model.

Parameters

[in]	_size	Size of the wall.
[in]	_pos	Position of the wall in pixel coordinates.
[in]	_angle	Yaw rotation of the wall in degrees.

Returns: Name of the 3D wall that has been added.

std::string AddWindow	(	const QVector3D &	_size,
		const QVector3D &	_pos,
		double	_angle
	)

Add a window to the model.

Parameters

[in]	_size	Size of the window.
[in]	_pos	Position of the window in pixel coordinates.
[in]	_angle	Yaw rotation of the window in degrees.

Returns: Name of the 3D window that has been added.

void AttachManip	(	const std::string &	_child,
		const std::string &	_parent
	)

Attach a building part to another, this is currently used for making holes in walls and floors.

This function doesn't check if the parts exist.

Parameters

[in]	_child	Name of the child building part
[in]	_parent	Name of the parent building part.

void BuildingChanged ( )

Set save state upon a change to the building.

void ConnectItem	(	const std::string &	_partName,
		const EditorItem *	_item
	)

Connect the 2D editor item Qt signals to the 3D building part.

Parameters

[in]	_partName	Name of the 3D building part
[in]	_item	2D editor item.

static double Convert ( double _value )

static

Parameters

[in]	_value	Convert a value from pixels to metric units
[in]	_value	Value in pixels.

Returns: Value in metric units.

static double ConvertAngle ( double _angle )

static

Convert an angle from editor unit to Gazebo unit.

Parameters

[in] _angle Angle in degrees.

Returns: Angle in radians.

static ignition::math::Pose3d ConvertPose	(	const double	_x,
		const double	_y,
		const double	_z,
		const double	_roll,
		const double	_pitch,
		const double	_yaw
	)

static

Helper method to convert pose from editor coordinate system to Gazebo coordinate system.

Parameters

[in]	_x	X position in pixels.
[in]	_y	Y position in pixels.
[in]	_y	Z position in pixels.
[in]	_roll	Roll rotation in degrees.
[in]	_pitch	Pitch rotation in degrees.
[in]	_yaw	Yaw rotation in degrees.

Returns: Pose with position in metric units and rotation in radians.

static ignition::math::Vector3d ConvertSize	(	const double	_width,
		const double	_depth,
		const double	_height
	)

static

Helper method to convert size from editor coordinate system to Gazebo coordinate system.

Parameters

[in]	_width	Width in pixels.
[in]	_depth	Depth in pixels.
[in]	_height	Height in pixels.

Returns: Size in metric units.

void DetachAllChildren ( const std::string & _parent )

Detach all child building parts from the given manip.

Parameters

[in] _parent Name of the building part.

void DetachFromParent ( const std::string & _child )

Detach a child building part from its parent.

Parameters

[in] _child Name of the child building part.

void FinishModel ( )

Finish the model and create the entity on the gzserver.

void GenerateSDF ( )

Generate the SDF from building part visuals.

bool IsAttached ( const std::string & _child ) const

Whether the given manip is attached to another manip or not.

Parameters

[in] _child Name of manip.

Returns: True if manip has a parent.

BuildingModelManip* ManipByName ( const std::string & _name )

Detach all child building parts from the given manip.

Parameters

[in] _manip Name of the building part.

std::string ModelSDF ( ) const

Get the last generated SDF as string.

Returns: String representation of the building's SDF.

void OnEdit ( bool _checked )

QT callback when entering or leaving building edit mode.

Parameters

[in] _checked True if the menu item is checked

void RemovePart ( const std::string & _partName )

Remove a building part from the model.

Parameters

[in] _partName Name of the building part to remove

void RemoveWall ( const std::string & _wallName )

Remove a wall from the model.

Parameters

[in] _partName Name of the wall to remove

void Reset ( )

Reset the building maker and the SDF.

void SetModelName ( const std::string & _modelName )

Set the name of this building model.

Parameters

[in] _modelName Name of the model to set to.

Member Data Documentation

const double conversionScale

static

Conversion scale used by the Convert helper functions.

The documentation for this class was generated from the following file:

BuildingMaker.hh

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation