142 lines
4.1 KiB
C++
142 lines
4.1 KiB
C++
/*
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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_APPLY_WRENCH_DIALOG_PRIVATE_HH_
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#define _GAZEBO_APPLY_WRENCH_DIALOG_PRIVATE_HH_
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#include <string>
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#include <vector>
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#include <map>
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#include <mutex>
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#include "gazebo/gui/qt.h"
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#include "gazebo/gui/ApplyWrenchDialog.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 ApplyWrenchDialogPrivate.hh
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/// \brief Private data for the ApplyWrenchDialog class
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class ApplyWrenchDialogPrivate
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{
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/// \brief Node for communication.
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public: transport::NodePtr node;
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/// \brief Name of the model this is connected to.
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public: std::string modelName;
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/// \brief Name of the link currently targeted.
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public: std::string linkName;
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/// \brief Label holding the model name.
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public: QLabel *modelLabel;
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/// \brief Dropdown holding all link names.
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public: QComboBox *linksComboBox;
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/// \brief Radio button for CoM.
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public: QRadioButton *comRadio;
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/// \brief Radio button for force position.
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public: QRadioButton *forcePosRadio;
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/// \brief Spin for force position X.
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public: QDoubleSpinBox *forcePosXSpin;
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/// \brief Spin for force position Y.
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public: QDoubleSpinBox *forcePosYSpin;
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/// \brief Spin for force position Z.
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public: QDoubleSpinBox *forcePosZSpin;
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/// \brief Spin for force magnitude.
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public: QDoubleSpinBox *forceMagSpin;
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/// \brief Spin for force X.
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public: QDoubleSpinBox *forceXSpin;
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/// \brief Spin for force Y.
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public: QDoubleSpinBox *forceYSpin;
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/// \brief Spin for force Z.
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public: QDoubleSpinBox *forceZSpin;
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/// \brief Spin for torque magnitude.
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public: QDoubleSpinBox *torqueMagSpin;
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/// \brief Spin for torque X.
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public: QDoubleSpinBox *torqueXSpin;
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/// \brief Spin for torque Y.
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public: QDoubleSpinBox *torqueYSpin;
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/// \brief Spin for torque Z.
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public: QDoubleSpinBox *torqueZSpin;
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/// \brief CoM coordinates in link frame.
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public: math::Vector3 comVector;
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/// \brief Force position coordinates in link frame.
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public: math::Vector3 forcePosVector;
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/// \brief Force vector.
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public: math::Vector3 forceVector;
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/// \brief Torque vector.
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public: math::Vector3 torqueVector;
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/// \brief Publish user command messages for the server to place in the
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/// undo queue.
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public: transport::PublisherPtr userCmdPub;
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/// \brief Visual of the targeted link.
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public: rendering::VisualPtr linkVisual;
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/// \brief A list of events connected to this.
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public: std::vector<event::ConnectionPtr> connections;
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/// \brief Map link name to link CoM vector.
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public: std::map<std::string, math::Vector3> linkToCOMMap;
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/// \brief Interactive visual which represents the wrench to be applied.
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public: rendering::ApplyWrenchVisualPtr applyWrenchVisual;
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/// \brief Indicate whether mouse is dragging on top the
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/// rotation tool or not.
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public: bool draggingTool;
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/// \brief World pose of the rotation tool the moment dragging
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/// started.
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public: math::Pose dragStartPose;
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/// \brief State of the manipulation tool, here only using "rot_y"
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/// and "rot_z".
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public: std::string manipState;
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/// \brief Current mode, either force, torque or none.
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public: ApplyWrenchDialog::Mode mode;
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/// \brief Mutex to protect variables.
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public: std::mutex mutex;
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/// \brief Pointer to the main window.
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public: MainWindow *mainWindow;
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};
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}
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}
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#endif
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