102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/*
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* Copyright (C) 2014 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_GUI_MODEL_ALIGN_HH_
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#define _GAZEBO_GUI_MODEL_ALIGN_HH_
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#include <string>
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#include <vector>
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#include "gazebo/common/KeyEvent.hh"
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#include "gazebo/common/MouseEvent.hh"
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#include "gazebo/common/SingletonT.hh"
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#include "gazebo/math/Box.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/rendering/RenderTypes.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 gui
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{
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class ModelAlignPrivate;
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/// \class ModelAlign ModelAlign.hh gui/Gui.hh
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/// \brief A gui tool for aligning models
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class GZ_GUI_VISIBLE ModelAlign : public SingletonT<ModelAlign>
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{
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/// \brief Constructor
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private: ModelAlign();
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/// \brief Destructor
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private: virtual ~ModelAlign();
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/// \brief Initialize the model alignment tool.
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public: void Init();
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/// \brief Clear the model alignment tool. This explicity cleans up the
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/// internal state of the singleton and prepares it for exit.
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public: void Clear();
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/// \brief Callback when a specific alignment configuration is set.
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/// \param[in] _visuals Visuals to be aligned.
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/// \param[in] _axis Axis of alignment: x, y, or z.
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/// \param[in] _config Either a configuration (min, center, max),
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/// or "reset" to restore the original pose.
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/// \param[in] _publish True to publish new alignment pose
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/// \param[in] _inverted True to invert alignment direction.
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public: void AlignVisuals(std::vector<rendering::VisualPtr> _visuals,
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const std::string &_axis, const std::string &_config,
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const std::string &_target, const bool _publish = true,
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const bool _inverted = false);
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/// \brief Get the minimum and maximum values of a list of vertices.
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/// \param[in] _vertices A list of input vertices.
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/// \param[out] _min Minimum x, y, z values.
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/// \param[out] _max Maximum x, y, z values.
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private: void GetMinMax(std::vector<math::Vector3> _vertices,
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math::Vector3 &_min, math::Vector3 &_max);
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/// \brief Transform a bounding box to the world space.
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/// \param[in] _bbox Input bounding box.
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/// \param[in] _worldPose Pose used to tranform the bounding box.
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/// \param[out] _vertices Vertices of the tranformed bounding box in
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/// world coordinates.
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private: void Transform(math::Box _bbox, math::Pose _worldPose,
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std::vector<math::Vector3> &_vertices);
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/// \brief Change the transparency of the visual's leaf children to
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/// indicate a highlighted state or not. Must do it for each leaf as
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/// they might have different transparencies.
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/// \param[in] _vis Visual to be highlighted.
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/// \param[in] _highlight Whether to highlight or not.
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private: void SetHighlighted(rendering::VisualPtr _vis, bool _highlight);
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/// \brief This is a singleton class.
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private: friend class SingletonT<ModelAlign>;
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/// \internal
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/// \brief Pointer to private data.
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private: ModelAlignPrivate *dataPtr;
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};
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}
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}
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#endif
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