98 lines
3.4 KiB
C++
98 lines
3.4 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 _JOINTVISUAL_HH_
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#define _JOINTVISUAL_HH_
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#include <string>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/rendering/Visual.hh"
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#include "gazebo/util/system.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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/// \addtogroup gazebo_rendering
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/// \{
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/// \class JointVisual JointVisual.hh rendering/rendering.hh
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/// \brief Visualization for joints
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class GZ_RENDERING_VISIBLE JointVisual : public Visual
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{
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/// \brief Constructor
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/// \param[in] _name Name of the visual
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/// \param[in] _vis Pointer to the parent visual
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public: JointVisual(const std::string &_name, VisualPtr _vis);
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/// \brief Destructor
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public: virtual ~JointVisual();
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/// \brief Load the joint visual based on a message
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/// \param[in] _msg Joint message
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public: void Load(ConstJointPtr &_msg);
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using Visual::Load;
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/// \internal
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/// \brief Load the joint visual based on a message and an offset pose
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/// This is currently used internally for creating a second visual for
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/// joint types that have more than 1 axis.
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/// \param[in] _msg Joint message
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/// \param[in] _pose Pose of the joint visual in world coordinates.
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public: void Load(ConstJointPtr &_msg, const math::Pose &_worldPose);
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/// \brief Create an axis and attach it to the joint visual.
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/// \param[in] _axis Axis vector
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/// \param[in] _useParentFrame True to use parent frame instead of the
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/// joint frame.
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/// \param[in] _type Type of axis.
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/// \returns Newly created arrow visual.
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public: ArrowVisualPtr CreateAxis(const math::Vector3 &_axis,
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bool _useParentFrame, msgs::Joint::Type _type);
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// Documentation Inherited.
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public: virtual void SetVisible(bool _visible, bool _cascade = true);
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/// \brief Update the joint visual based on a message.
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/// \param[in] _msg Joint message
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public: void UpdateFromMsg(ConstJointPtr &_msg);
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/// \brief Update an axis' arrow visual.
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/// \param[in] _arrowVisual Arrow visual to be updated.
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/// \param[in] _axis Axis vector.
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/// \param[in] _useParentFrame True to use parent frame instead of the
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/// joint frame.
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/// \param[in] _type Type of axis.
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public: void UpdateAxis(ArrowVisualPtr _arrowVisual,
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const math::Vector3 &_axis, bool _useParentFrame,
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msgs::Joint::Type _type);
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/// \brief Get the JointVisual which is attached to the parent link.
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/// returns Parent axis visual.
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public: JointVisualPtr GetParentAxisVisual() const;
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/// \brief Get the arrow visual which represents the axis attached to the
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/// child link.
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/// returns Arrow visual.
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public: ArrowVisualPtr GetArrowVisual() const;
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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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