pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/gui/building/WallSegmentItem.hh

/*
 * 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_BUILDING_WALLSEGMENTITEM_HH_
#define _GAZEBO_GUI_BUILDING_WALLSEGMENTITEM_HH_

#include <memory>
#include <ignition/math/Vector2.hh>

#include "gazebo/gui/qt.h"
#include "gazebo/gui/building/SegmentItem.hh"

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    // Forward declare private data.
    class WallSegmentItemPrivate;

    /// \addtogroup gazebo_gui
    /// \{

    /// \class WallSegmentItem WallSegmentItem.hh
    /// \brief 2D representation of a wall.
    class GZ_GUI_VISIBLE WallSegmentItem : public SegmentItem
    {
      Q_OBJECT

      /// \brief Constructor
      /// param[in] _start Start position of the item in pixel coordinates.
      /// param[in] _end End position of the item in pixel coordinates.
      /// param[in] _height Height of the wall segment in meters.
      public: WallSegmentItem(const ignition::math::Vector2d &_start,
          const ignition::math::Vector2d &_end, const double _height);

      /// \brief Destructor
      public: ~WallSegmentItem();

      /// \brief Get the height of the wall segment item.
      /// \return Height of the wall segment item in pixels.
      public: double Height() const;

      /// \brief Set the height of the wall segment item.
      /// param[in] _height Height of the wall segment item in pixels.
      public: void SetHeight(const double _height);

      /// \brief Clone the wall segment item.
      /// \return A pointer to a copy of the wall segment item.
      public: WallSegmentItem *Clone() const;

      /// \brief Update by emitting Qt signals.
      public: void Update();

      /// \brief Emit wall segment changed Qt signals.
      public: void WallSegmentChanged();

      /// \brief Update inspector with current values.
      public: void UpdateInspector();

      // Documentation inherited
      public: void SetHighlighted(const bool _highlighted);

      /// \brief Update wall segment when segment updated.
      protected: void SegmentUpdated();

      /// \brief Qt context menu event received on a mouse right click.
      /// \param[in] _event Qt context menu event.
      private: void contextMenuEvent(QGraphicsSceneContextMenuEvent *_event);

      /// \brief Qt context menu event received on a mouse double click.
      /// \param[in] _event Qt double click event.
      private: void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *_event);

      /// \brief React to item changes notified by Qt.
      /// \param[in] _change Qt change type, e.g. selected change
      /// \param[in] _value Value to be changed to.
      private: QVariant itemChange(GraphicsItemChange _change,
          const QVariant &_value);

      // Documentation inherited
      private slots: void OnApply();

      // Documentation inherited
      private slots: void OnOpenInspector();

      // Documentation inherited
      private slots: void OnDeleteItem();

      /// \internal
      /// \brief Pointer to private data.
      private: std::unique_ptr<WallSegmentItemPrivate> dataPtr;
    };
    /// \}
  }
}

#endif