301 lines
9.9 KiB
C++
301 lines
9.9 KiB
C++
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/*
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* Copyright (C) 2013 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_DATA_HH_
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#define _GAZEBO_MODEL_DATA_HH_
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#include <map>
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#include <string>
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#include <vector>
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#include "gazebo/rendering/Visual.hh"
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#include "gazebo/gui/model/LinkInspector.hh"
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namespace boost
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{
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class recursive_mutex;
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}
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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 LinkInspector;
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class ModelPluginInspector;
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class GZ_GUI_VISIBLE ModelData
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{
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/// \brief Get a template SDF string of a simple model.
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/// \return Template SDF string of a simple model.
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public: static std::string GetTemplateSDFString();
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/// \brief Get the default transparency setting for entities in model
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/// editor.
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public: static double GetEditTransparency();
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/// \internal
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/// \brief Update visual's render group. This is needed to fix an
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/// alpha compositing issue in ogre when transparent objects overlap.
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/// \param[in] _visual Visual to update
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public: static void UpdateRenderGroup(rendering::VisualPtr _visual);
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};
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/// \brief Helper class to store nested models data.
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class GZ_GUI_VISIBLE NestedModelData
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{
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/// \brief Set the name of the model.
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/// \param[in] _name Name of model.
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public: void SetName(const std::string &_name);
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/// \brief Set the pose of the model.
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/// \param[in] _pose Pose of model.
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public: void SetPose(const ignition::math::Pose3d &_pose);
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/// \brief Get the pose of the nested model.
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/// \return Pose of nested model.
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public: ignition::math::Pose3d Pose() const;
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/// \brief Get the depth of the nested model. The root model has depth 1.
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/// \return Depth of nested model. Returns -1 if depth cannot be found.
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public: int Depth() const;
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/// \brief SDF representing the model data.
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public: sdf::ElementPtr modelSDF;
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/// \brief Visual representing this model.
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public: rendering::VisualPtr modelVisual;
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/// \brief Models inside this model
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public: std::map<std::string, rendering::VisualWeakPtr> models;
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/// \brief Links inside this model
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public: std::map<std::string, rendering::VisualWeakPtr> links;
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};
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/// \class LinkData LinkData.hh
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/// \brief Helper class to store link data
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class GZ_GUI_VISIBLE LinkData : public QObject
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{
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Q_OBJECT
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/// \brief Constructor
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public: LinkData();
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/// \brief Destructor
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public: ~LinkData();
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/// \brief Get the link visual.
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/// \return Link visual pointer.
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public: rendering::VisualPtr LinkVisual() const;
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/// \brief Set the link visual.
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/// \param[in] Link visual pointer.
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public: void SetLinkVisual(rendering::VisualPtr _linkVisual);
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/// \brief Get the name of the link.
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/// \return Name of link.
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public: std::string GetName() const;
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/// \brief Set the name of the link.
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/// \param[in] _name Name of link.
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public: void SetName(const std::string &_name);
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/// \brief Get the pose of the link.
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/// \return Pose of link.
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public: ignition::math::Pose3d Pose() const;
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/// \brief Set the pose of the link.
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/// \param[in] _pose Pose of link.
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public: void SetPose(const ignition::math::Pose3d &_pose3d);
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/// \brief Load the link with data from SDF.
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/// \param[in] _sdf Link SDF element.
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public: void Load(sdf::ElementPtr _sdf);
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/// \brief Get the scale of the link.
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/// \return Scale of link.
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public: ignition::math::Vector3d Scale() const;
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/// \brief Set the scale of the link.
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/// \param[in] _scale Scale of link.
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public: void SetScale(const ignition::math::Vector3d &_scale);
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/// \brief Add a visual to the link.
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/// \param[in] _visual Visual to be added.
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public: void AddVisual(rendering::VisualPtr _visual);
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/// \brief Add a collision to the link.
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/// \param[in] _collisionVis Visual representing the collision.
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/// \param[in] _msg Optional message containing collision params.
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public: void AddCollision(rendering::VisualPtr _collisionVis,
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const msgs::Collision *_msg = NULL);
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/// \brief Update the inspector widget if necessary.
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public: void UpdateConfig();
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/// \brief Clone the link data.
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/// \param[in] _newName Name to give to the cloned link.
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/// \return A clone of this link data.
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public: LinkData *Clone(const std::string &_newName);
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/// \brief Show or hide collision visuals.
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/// \param[in] _show True to show, false to hide.
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public slots: void ShowCollisions(const bool _show);
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/// \brief Show or hide visual visuals.
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/// \param[in] _show True to show, false to hide.
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public slots: void ShowVisuals(const bool _show);
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/// \brief Show or hide link frame visuals.
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/// \param[in] _show True to show, false to hide.
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public slots: void ShowLinkFrame(const bool _show);
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/// \brief Update callback on PreRender.
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private: void Update();
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/// \brief Apply inspector configurations.
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/// \return True if successful.
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private: bool Apply();
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/// \brief Qt Callback when link inspector configurations are to be
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/// applied and inspector should be closed.
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private slots: void OnAccept();
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/// \brief Qt Callback when link inspector configurations are to be
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/// applied.
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private slots: void OnApply();
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/// \brief Qt callback when a new visual is to be added.
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/// \param[in] _name Name of visual.
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private slots: void OnAddVisual(const std::string &_name);
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/// \brief Qt callback when a new collision is to be added.
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/// \param[in] _name Name of collision.
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private slots: void OnAddCollision(const std::string &_name);
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/// \brief Qt callback when a visual is to be removed.
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/// \param[in] _name Name of visual.
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private slots: void OnRemoveVisual(const std::string &_name);
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/// \brief Qt callback when a collision is to be removed.
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/// \param[in] _name Name of collision.
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private slots: void OnRemoveCollision(const std::string &_name);
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/// \brief Qt callback when a collision is to be shown/hidden.
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/// \param[in] _show True to show.
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/// \param[in] _name Name of collision.
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private slots: void OnShowCollision(const bool _show,
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const std::string &_name);
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/// \brief Qt callback when a visual is to be shown/hidden.
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/// \param[in] _show True to show.
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/// \param[in] _name Name of visual.
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private slots: void OnShowVisual(const bool _show,
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const std::string &_name);
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/// \brief Qt callback when the inspector is opened.
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private slots: void OnInspectorOpened();
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/// \brief All the event connections.
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private: std::vector<event::ConnectionPtr> connections;
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/// \brief Mutex to protect visual and collision update messages.
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private: boost::recursive_mutex *updateMutex;
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/// \brief SDF representing the link data.
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public: sdf::ElementPtr linkSDF;
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/// \brief mass.
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private: double mass;
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/// \brief Inertia ixx.
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private: double inertiaIxx;
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/// \brief Inertia iyy.
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private: double inertiaIyy;
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/// \brief Inertia izz.
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private: double inertiaIzz;
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/// \brief Scale of link.
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public: ignition::math::Vector3d scale;
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/// \brief Visual representing this link.
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private: rendering::VisualPtr linkVisual;
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/// \brief Visuals of the link.
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public: std::map<rendering::VisualPtr, msgs::Visual> visuals;
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/// \brief Deleted visuals of the link.
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public: std::map<rendering::VisualPtr, msgs::Visual> deletedVisuals;
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/// \brief Msgs for updating visuals.
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public: std::vector<msgs::Visual *> visualUpdateMsgs;
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/// \brief Msgs for updating collision visuals.
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public: std::vector<msgs::Collision *> collisionUpdateMsgs;
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/// \brief Collisions of the link.
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public: std::map<rendering::VisualPtr, msgs::Collision> collisions;
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/// \brief Deleted collisions of the link.
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public: std::map<rendering::VisualPtr, msgs::Collision> deletedCollisions;
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/// \brief Link frame visual.
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public: rendering::LinkFrameVisualPtr linkFrameVis;
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/// \brief Inspector for configuring link properties.
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public: LinkInspector *inspector;
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/// \brief Flag set to true if this is a link of a nested model.
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public: bool nested;
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/// \brief True if all collisions are currently visible, false otherwise.
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public: bool showCollisions = true;
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/// \brief True if all visuals are currently visible, false otherwise.
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public: bool showVisuals = true;
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/// \brief True if all link frames are currently visible, false otherwise.
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public: bool showLinkFrame = true;
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};
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/// \brief Helper class to store model plugin data
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class GZ_GUI_VISIBLE ModelPluginData : public QObject
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{
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Q_OBJECT
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/// \brief Constructor
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public: ModelPluginData();
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/// \brief Destructor
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public: ~ModelPluginData();
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/// \brief Load data from the plugin SDF
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/// \param[in] _pluginElem SDF element.
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public: void Load(sdf::ElementPtr _pluginElem);
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/// \brief Inspector for configuring model plugin properties.
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public: ModelPluginInspector *inspector;
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/// \brief SDF representing the model plugin data.
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public: sdf::ElementPtr modelPluginSDF;
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};
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}
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}
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#endif
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