75 lines
2.2 KiB
C++
75 lines
2.2 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_RENDERING_WRENCHVISUALPRIVATE_HH_
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#define GAZEBO_RENDERING_WRENCHVISUALPRIVATE_HH_
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#include <vector>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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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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class DynamicLines;
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/// \brief Private data for the Wrench Visual class.
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class WrenchVisualPrivate : public VisualPrivate
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{
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/// \brief Pointer to a node that handles communication.
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public: transport::NodePtr node;
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/// \brief Subscription to the sonar data.
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public: transport::SubscriberPtr wrenchSub;
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/// \brief Scene node for X torque visualization.
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public: Ogre::SceneNode *coneXNode;
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/// \brief Scene node for Y torque visualization.
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public: Ogre::SceneNode *coneYNode;
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/// \brief Scene node for Z torque visualization.
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public: Ogre::SceneNode *coneZNode;
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/// \brief Visual for force visualization.
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public: VisualPtr forceVisual;
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/// \brief Line to visualize force
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public: DynamicLines *forceLine;
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/// \brief The current wrench message.
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public: boost::shared_ptr<msgs::WrenchStamped const> wrenchMsg;
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/// \brief True if we have received a message.
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public: bool receivedMsg;
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/// \brief True if this visualization is enabled.
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public: bool enabled;
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/// \brief Mutex to protect the contact message.
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public: boost::mutex mutex;
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/// \brief All the event connections.
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public: std::vector<event::ConnectionPtr> connections;
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};
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}
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}
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#endif
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