149 lines
5.2 KiB
C++
149 lines
5.2 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_GUI_JOINT_CREATION_DIALOG_HH_
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#define _GAZEBO_GUI_JOINT_CREATION_DIALOG_HH_
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#include <memory>
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#include <string>
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#include <ignition/math/Pose3.hh>
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#include <ignition/math/Vector3.hh>
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#include "gazebo/gui/qt.h"
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#include "gazebo/gui/model/JointMaker.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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// Forward declare private data.
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class JointCreationDialogPrivate;
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/// \class JointCreationDialog gui/JointCreationDialog.hh
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/// \brief A class to inspect and modify joints.
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class GZ_GUI_VISIBLE JointCreationDialog : public QDialog
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{
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Q_OBJECT
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/// \brief Constructor
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/// \param[in] _jointMaker Pointer to the joint maker.
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/// \param[in] _parent Parent QWidget.
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public: JointCreationDialog(JointMaker *_jointMaker,
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QWidget *_parent = 0);
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/// \brief Destructor
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public: ~JointCreationDialog();
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/// \brief Open the dialog.
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/// \param[in] _type Joint type which will be selected when dialog opens.
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public: void Open(const JointMaker::JointType _type);
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/// \brief Update the relative pose widget.
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/// \param[in] _pose New pose.
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public: void UpdateRelativePose(const ignition::math::Pose3d &_pose);
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/// \brief Qt callback when a link is chosen on the dialog.
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private slots: void OnLinkFromDialog();
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/// \brief Qt callback when the axis is changed on the dialog.
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/// \param[in] _name Name of the axis widget in the config widget that
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/// emitted the signal.
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/// \param[in] _pose New pose.
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private slots: void OnVector3dFromDialog(const QString &_name,
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const ignition::math::Vector3d &_pose);
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/// \brief Qt callback when the pose is changed on the dialog.
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/// \param[in] _name Name of the pose widget in the config widget that
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/// emitted the signal.
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/// \param[in] _pose New pose.
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private slots: void OnPoseFromDialog(const QString &_name,
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const ignition::math::Pose3d &_pose);
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/// \brief Qt callback when an enum value has changed on the dialog.
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/// \param[in] _name Name of the enum widget in the config widget that
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/// emitted the signal.
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/// \param[in] _value New value in string.
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private slots: void OnEnumChanged(const QString &_name,
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const QString &_value);
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/// \brief Qt callback when the Reset all button is pressed.
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private slots: void OnResetAll();
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/// \brief Qt callback when the axis combo box is changed.
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/// \param[in] _int Index of new value.
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private slots: void OnAlign(const int _int);
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/// \brief Uncheck all align buttons.
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/// \param[in] _blockSignals True to prevent firing signals.
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private slots: void UncheckAllAlign(const bool _blockSignals = false);
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/// \brief Qt callback when type button is selected.
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/// \param[in] _typeInt Index of new selection.
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private slots: void OnType(const int _typeInt);
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/// \brief Qt callback when the Swap links button is pressed.
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private slots: void OnSwap();
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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 when the Create button is pressed.
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private slots: void OnCreate();
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/// \brief Event callback when the parent link is chosen in the 3D scene.
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/// \param[in] _linkName Name of new parent link.
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public: void SetParent(const std::string &_linkName);
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/// \brief Event callback when the child link is chosen in the 3D scene.
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/// \param[in] _linkName Name of new child link.
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public: void SetChild(const std::string &_linkName);
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/// \brief Check if the current parent and child link selection is valid.
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private: void CheckLinksValid();
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/// \brief Enable ok button if all values in the dialog are valid.
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/// \return True if all values are valid.
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private: bool CheckValid();
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/// \internal
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/// \brief Handles choosing the parent link, whether it is chosen from the
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/// dialog or the 3D scene.
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/// \param[in] _linkName Name of new parent link.
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private: void OnParentImpl(const std::string &_linkName);
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/// \internal
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/// \brief Handles choosing the child link, whether it is chosen from the
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/// dialog or the 3D scene.
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/// \param[in] _linkName Name of new child link.
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private: void OnChildImpl(const std::string &_linkName);
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// Documentation inherited
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private: void keyPressEvent(QKeyEvent *_event);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointCreationDialogPrivate> 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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