225 lines
8.1 KiB
C++
225 lines
8.1 KiB
C++
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/*
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* Copyright 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_APPLY_WRENCH_DIALOG_HH_
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#define _GAZEBO_APPLY_WRENCH_DIALOG_HH_
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#include <string>
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#include "gazebo/common/MouseEvent.hh"
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#include "gazebo/gui/qt.h"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/transport/TransportTypes.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 ApplyWrenchDialogPrivate;
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/// \addtogroup gazebo_gui
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/// \{
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/// \class ApplyWrenchDialog ApplyWrenchDialog.hh gui/gui.hh
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/// \brief Dialog for applying force and torque to a model.
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class GZ_GUI_VISIBLE ApplyWrenchDialog : public QDialog
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{
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Q_OBJECT
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/// \enum Modes
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/// \brief Dialog is in one of these modes at each time.
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public: enum Mode
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{
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/// \brief None
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NONE = 0,
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/// \brief Force
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FORCE = 1,
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/// \brief Torque
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TORQUE = 2
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};
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/// \brief Constructor.
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/// \param[in] _parent Parent QWidget.
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public: ApplyWrenchDialog(QWidget *_parent = 0);
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/// \brief Destructor.
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public: ~ApplyWrenchDialog();
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/// \brief Initiate the dialog.
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/// \param[in] _modelName Scoped name of the model.
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/// \param[in] _linkName Scoped name of a link within the model to which
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/// a wrench will be applied. The link might be changed later, but not
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/// the model.
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public: void Init(const std::string &_modelName,
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const std::string &_linkName);
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/// \brief Finish the dialog.
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public: void Fini();
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/// \brief Get the mode, either force, torque or none.
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/// \return Current mode.
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public: Mode GetMode() const;
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/// \brief Set model to which wrench will be applied.
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/// \param[in] _modelName Scoped model name.
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/// \return True if model was properly set.
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private: bool SetModel(const std::string &_modelName);
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/// \brief Set link to which wrench will be applied.
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/// \param[in] _linkName Scoped link name.
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/// \return True if link was properly set.
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private: bool SetLink(const std::string &_linkName);
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/// \brief Set link from combo box.
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/// \param[in] _linkName Link leaf name.
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private slots: void SetLink(const QString _linkName);
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/// \brief Qt callback when the Apply All button is pressed.
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private slots: void OnApplyAll();
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/// \brief Qt callback when the Apply Force button is pressed.
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private slots: void OnApplyForce();
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/// \brief Qt callback when the Apply Torque button is pressed.
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private slots: void OnApplyTorque();
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/// \brief Qt callback when the Cancel button is pressed.
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private slots: void OnCancel();
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/// \brief Qt callback to set position to CoM.
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/// \param[in] _checked Whether it is checked or not.
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private slots: void ToggleComRadio(bool _checked);
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/// \brief Qt callback when some force position component was changed.
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/// \param[in] _value New value, not used.
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private slots: void OnForcePosChanged(double _value);
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/// \brief Qt callback when the force magnitude was changed.
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/// \param[in] _magnitude Force magnitude.
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private slots: void OnForceMagChanged(double _magnitude);
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/// \brief Qt callback when some force component was changed.
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/// \param[in] _value New value, not used.
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private slots: void OnForceChanged(double _value);
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/// \brief Qt callback when the the force clear button is clicked.
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private slots: void OnForceClear();
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/// \brief Qt callback when the torque magnitude was changed.
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/// \param[in] _magnitude Torque magnitude.
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private slots: void OnTorqueMagChanged(double _magnitude);
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/// \brief Qt callback when some torque component was changed.
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/// \param[in] _value New value, not used.
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private slots: void OnTorqueChanged(double _value);
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/// \brief Qt callback when the the torque clear button is clicked.
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private slots: void OnTorqueClear();
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/// \brief Qt callback when entering a manipulation mode.
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private slots: void OnManipulation();
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/// \brief Filter events from other Qt objects.
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/// param[in] _object Qt object watched by the event filter
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/// param[in] _event Qt event to be filtered.
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/// \return True to stop event propagation.
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private slots: bool eventFilter(QObject *_object, QEvent *_event);
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/// \brief Handle change events related to this dialog.
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/// param[in] _event Qt event.
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private slots: void changeEvent(QEvent *_event);
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/// \brief Set the value of a specific spin without triggering signals to
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/// avoid recursion loops.
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/// \param[in] _spin Spin whose value will be changed.
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/// \param[in] _value New value.
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private: void SetSpinValue(QDoubleSpinBox *_spin, double _value);
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/// \brief Set force position vector, send it to visuals and update spins.
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/// \param[in] _forcePos New force position.
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private: void SetForcePos(const math::Vector3 &_forcePos);
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/// \brief Set force vector, send it to visuals and update spins.
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/// \param[in] _force New force.
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/// \param[in] _rotatedByMouse Rot tool has been rotated by the mouse.
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private: void SetForce(const math::Vector3 &_force,
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const bool _rotatedByMouse = false);
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/// \brief Set torque vector, send it to visuals and update spins.
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/// \param[in] _torque New torque.
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/// \param[in] _rotatedByMouse Rot tool has been rotated by the mouse.
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private: void SetTorque(const math::Vector3 &_torque,
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const bool _rotatedByMouse = false);
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/// \brief Callback on prerender to check if target link hasn't been
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/// deleted.
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private: void OnPreRender();
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/// \brief Attach apply wrench visual to target link.
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private: void AttachVisuals();
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/// \brief Set CoM vector and send it to visuals.
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/// \param[in] _com CoM position in link frame.
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private: void SetCoM(const math::Vector3 &_com);
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/// \brief Callback for a mouse press event.
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/// \param[in] _event The mouse press event
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/// \return True if handled by this function.
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private: bool OnMousePress(const common::MouseEvent &_event);
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/// \brief Callback for a mouse release event.
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/// \param[in] _event The mouse release event
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/// \return True if handled by this function.
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private: bool OnMouseRelease(const common::MouseEvent &_event);
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/// \brief Callback for a mouse move event.
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/// \param[in] _event The mouse move event
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/// \return True if handled by this function.
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private: bool OnMouseMove(const common::MouseEvent &_event);
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/// \brief Set the mode to either force, torque or none.
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/// \param[in] _mode Current mode.
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private: void SetMode(Mode _mode);
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/// \brief Update force vector with direction given by mouse, magnitude
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/// from spin.
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/// \param[in] _dir New direction, doesn't need to be normalized.
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private: void NewForceDirection(const math::Vector3 &_dir);
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/// \brief Update torque vector with direction given by mouse, magnitude
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/// from spin.
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/// \param[in] _dir New direction, doesn't need to be normalized.
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private: void NewTorqueDirection(const math::Vector3 &_dir);
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/// \brief Set this dialog to be active, visuals visible and mouse
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/// filters on.
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/// \param[in] _active True to make it active.
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private: void SetActive(bool _active);
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/// \brief Set this dialog window to be active.
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private: void ActivateWindow();
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/// \internal
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/// \brief Pointer to private data.
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private: ApplyWrenchDialogPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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