79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2015 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_APPLYWRENCHVISUAL_PRIVATE_HH_
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#define _GAZEBO_APPLYWRENCHVISUAL_PRIVATE_HH_
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#include <string>
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#include <mutex>
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#include "gazebo/rendering/VisualPrivate.hh"
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namespace gazebo
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{
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namespace rendering
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{
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/// \brief Private data for the Apply Wrench Visual class.
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class ApplyWrenchVisualPrivate : public VisualPrivate
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{
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/// \brief Material for the current mode.
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public: std::string selectedMaterial;
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/// \brief Material for the unselected mode.
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public: std::string unselectedMaterial;
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/// \brief Arrow representing force.
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public: VisualPtr forceVisual;
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/// \brief Tube and line representing torque.
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public: VisualPtr torqueVisual;
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/// \brief Line connecting the torque visual to the CoM.
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public: rendering::DynamicLines *torqueLine;
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/// \brief CoM position in link coordinates.
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public: ignition::math::Vector3d comVector;
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/// \brief Force application point in link coordinates.
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public: ignition::math::Vector3d forcePosVector;
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/// \brief Force vector expressed in the link frame.
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public: ignition::math::Vector3d forceVector;
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/// \brief Torque vector expressed in the link frame.
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public: ignition::math::Vector3d torqueVector;
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/// \brief Mutex to protect variables
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public: std::mutex mutex;
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/// \brief Rotation tool composed of two circles.
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public: rendering::SelectionObjPtr rotTool;
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/// \brief If true, the rotation tool was rotated by the mouse and
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/// shouldn't be oriented again according to the vector.
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public: bool rotatedByMouse;
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/// \brief Text displaying the force magnitude.
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public: MovableText forceText;
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/// \brief Text displaying the torque magnitude.
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public: MovableText torqueText;
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};
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}
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}
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#endif
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