92 lines
2.8 KiB
C++
92 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_MODEL_MAKER_HH_
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#define _GAZEBO_MODEL_MAKER_HH_
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#include <list>
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/gui/EntityMaker.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace gui
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{
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class ModelMakerPrivate;
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/// \brief Used to insert new models into the scene.
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class GZ_GUI_VISIBLE ModelMaker : public EntityMaker
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{
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/// \enum SimpleShapes
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/// \brief Unique identifiers for each simple shape supported.
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public: enum SimpleShapes {
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/// \brief Box
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BOX,
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/// \brief Sphere
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SPHERE,
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/// \brief Cylinder
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CYLINDER
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};
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/// \brief Constructor
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public: ModelMaker();
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/// \brief Destructor
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public: ~ModelMaker();
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// Documentation inherited
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public: virtual void Stop();
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/// \brief Initialize the model maker with an existing model
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/// \param[in] _modelName Name of existing model in the scene.
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/// \return True if initialization is successful.
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public: bool InitFromModel(const std::string &_modelName);
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/// \brief Initialize the model maker from a file.
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/// \param[in] _filename Path to the file.
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/// \return True if initialization is successful.
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public: bool InitFromFile(const std::string &_filename);
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/// \brief Initialize the model maker to make one of the supported simple
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/// shapes.
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/// \param[in] _shape The desired shape.
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/// \return True if initialization is successful.
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public: bool InitSimpleShape(SimpleShapes _shape);
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// Documentation inherited
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public: virtual ignition::math::Vector3d EntityPosition() const;
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// Documentation inherited
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protected: virtual void SetEntityPosition(
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const ignition::math::Vector3d &_pos);
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/// \brief Internal init function.
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private: bool Init();
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/// \brief Create the model visual from model SDF
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/// \param[in] _modelElem Root model SDF element.
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private: void CreateModelFromSDF(sdf::ElementPtr _modelElem);
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/// \brief Publish a factory message to create the entity.
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private: virtual void CreateTheEntity();
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};
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}
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}
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#endif
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