500 lines
18 KiB
C++
500 lines
18 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_JOINTMAKER_HH_
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#define _GAZEBO_GUI_JOINTMAKER_HH_
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#include <map>
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#include <memory>
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#include <string>
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#include <vector>
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#include <ignition/math/Pose3.hh>
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#include <ignition/math/Vector3.hh>
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#include <sdf/sdf.hh>
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/gui/qt.h"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class BillboardSet;
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}
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namespace boost
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{
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class recursive_mutex;
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}
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namespace gazebo
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{
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namespace common
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{
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class KeyEvent;
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class MouseEvent;
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}
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namespace rendering
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{
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class DynamicLines;
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}
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namespace gui
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{
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class JointData;
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class JointInspector;
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// Forward declare private data.
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class JointMakerPrivate;
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/// \addtogroup gazebo_gui
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/// \{
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/// \class JointMaker JointMaker.hh
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/// \brief Handles the creation of joints in the model editor.
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class GZ_GUI_VISIBLE JointMaker : public QObject
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{
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Q_OBJECT
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/// \enum Joint types
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/// \brief Unique identifiers for joint types that can be created.
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public: enum JointType
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{
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/// \brief none
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JOINT_NONE,
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/// \brief Fixed joint
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JOINT_FIXED,
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/// \brief Slider joint
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JOINT_SLIDER,
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/// \brief Hinge joint
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JOINT_HINGE,
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/// \brief Hinge2 joint
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JOINT_HINGE2,
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/// \brief Screw joint
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JOINT_SCREW,
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/// \brief Universal joint
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JOINT_UNIVERSAL,
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/// \brief Ball joint
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JOINT_BALL,
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/// \brief Gearbox joint
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JOINT_GEARBOX
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};
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/// \brief Constructor
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public: JointMaker();
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/// \brief Destructor
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public: virtual ~JointMaker();
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/// \brief Reset the joint maker;
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public: void Reset();
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/// \brief Enable the mouse and key event handlers for the joint maker
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public: void EnableEventHandlers();
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/// \brief Disable the mouse and key event handlers for the joint maker
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public: void DisableEventHandlers();
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/// \brief Add a joint
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/// \param[in] _type Type of joint to be added in string.
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public: void AddJoint(const std::string &_type);
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/// \brief Add a joint
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/// \param[in] _type Type of joint to be added
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public: void AddJoint(const JointType _type);
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/// \brief Create a joint with parent and child.
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/// \param[in] _parent Parent of the joint.
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/// \param[in] _child Child of the joint.
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/// \return Joint data.
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public: JointData *CreateJoint(const rendering::VisualPtr &_parent,
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const rendering::VisualPtr &_child);
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/// \brief Helper method to create hotspot visual for mouse interaction.
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/// \param[in] _joint Joint data used for creating the hotspot
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/// \return Joint id, empty if hotspot creation failed.
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public: std::string CreateHotSpot(JointData *_joint);
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/// \brief Update callback on PreRender.
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public: void Update();
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/// \brief Remove joint by name.
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/// \param[in] _jointName Name of joint to be removed, or an empty string
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/// to remove the new joint under creation.
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public: void RemoveJoint(const std::string &_jointName);
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/// \brief Remove all joints connected to link.
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/// \param[in] _linkName Name of the link.
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public: void RemoveJointsByLink(const std::string &_linkName);
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/// \brief Get a vector containing data for all joints connected to
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/// the given link.
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/// \param[in] _linkName Name of the link.
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/// \return Vector with joint data.
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public: std::vector<JointData *> JointDataByLink(
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const std::string &_linkName) const;
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/// \brief Generate SDF for all joints.
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public: void GenerateSDF();
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/// \brief Get model SDF element containing all joints.
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/// \return Pointer to SDF element.
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public: sdf::ElementPtr SDF() const;
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/// \brief Get the axis count for joint type.
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/// \param[in] _type Type of joint.
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/// \return Axis count.
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public: static unsigned int JointAxisCount(
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const JointMaker::JointType _type);
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/// \brief Get the joint type in string.
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/// \param[in] _type Type of joint.
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/// \return Joint type in string.
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public: static std::string TypeAsString(
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const JointMaker::JointType _type);
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/// \brief Convert a joint type string to enum.
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/// \param[in] _type Joint type in string.
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/// \return Joint type enum.
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public: static JointType ConvertJointType(const std::string &_type);
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/// \brief Get the material for the joint type.
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/// \param[in] _type Type of joint.
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/// \return Name of material.
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public: static std::string JointMaterial(const std::string &_type);
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/// \brief Get state
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/// \return Current state of the joint maker. If mouse is enabled to
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/// create a new joint, it returns the type of joint. Otherwise, it
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/// returns JOINT_NONE.
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public: JointMaker::JointType State() const;
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/// \brief Stop the process of adding joint to the model.
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public: void Stop();
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/// \brief Get the number of joints added.
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/// \return Number of joints.
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public: unsigned int JointCount();
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/// \brief Create a joint from SDF. This is mainly used when editing
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/// existing models.
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/// \param[in] _jointElement SDF element to load.
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/// \param[in] _modelName Name of the model that contains this joint.
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public: void CreateJointFromSDF(sdf::ElementPtr _jointElem,
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const std::string &_modelName = "");
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/// \brief Add a scoped link name. Nested model's link names are scoped
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/// but the parent and child field in the joint SDF element may not be.
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/// So keep track of scoped link names in order to generate the correct
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/// SDF before spawning the model.
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/// \param[in] _name Scoped link name.
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public: void AddScopedLinkName(const std::string &_name);
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/// \brief Qt Callback to show / hide joint visuals.
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/// \param[in] _show True to show joints, false to hide them.
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public slots: void ShowJoints(const bool _show);
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/// \brief Set the select state of a joint.
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/// \param[in] _name Name of the joint.
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/// \param[in] _selected True to select the joint.
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public: void SetSelected(const std::string &_name, const bool selected);
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/// \brief Set the select state of a joint visual.
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/// \param[in] _jointVis Pointer to the joint visual.
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/// \param[in] _selected True to select the joint.
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public: void SetSelected(const rendering::VisualPtr &_jointVis,
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const bool selected);
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/// \brief Get the list of links.
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/// \return The list of links, with the link scoped name and leaf name.
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public: std::map<std::string, std::string> LinkList() const;
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/// \brief A new type for the joint being created has been chosen.
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/// To be used by other classes.
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/// \param[in] _typeInt Integer corresponding to joint type enum.
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public slots: void OnType(const int _typeInt);
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/// \brief A new axis for the joint being created has been chosen.
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/// To be used by other classes.
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/// \param[in] _axis Axis which was changed, either "axis1" or "axis2".
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/// \param[in] _value New value for the axis
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public slots: void SetAxis(const std::string &_axis,
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const ignition::math::Vector3d &_value);
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/// \brief A new joint pose for the joint being created has been chosen.
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/// To be used by other classes.
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/// \param[in] _pose New joint pose.
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public: void SetJointPose(const ignition::math::Pose3d &_pose);
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/// \brief A new parent link for the joint being created has been chosen.
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/// To be used by other classes.
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/// \sa SetParentLink(const rendering::VisualPtr &_parentLink)
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/// \param[in] _name Link name, either the leaf or scoped.
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public: void SetParentLink(const std::string &_name);
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/// \brief A new child link for the joint being created has been chosen.
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/// To be used by other classes.
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/// \sa SetChildLink(const rendering::VisualPtr &_childLink)
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/// \param[in] _name Link name, either the leaf or scoped.
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public: void SetChildLink(const std::string &_name);
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/// \brief A new relative pose for the child link of the joint being
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/// created hass been chosen. The pose is expressed in the parent link
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/// frame. This has no effect if triggered before both links are chosen.
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/// \param[in] _pose New pose.
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/// \param[in] _resetAll Set to true to reset the relative pose to the
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/// original one.
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/// \paran[in] _resetAxis Reset only the given axis 0 == x, 1 == y, 2 == z
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public: void SetLinksRelativePose(
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const ignition::math::Pose3d &_pose, const bool _resetAll,
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const int _resetAxis = -1);
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/// \brief Align the parent and child links of the joint being created.
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/// \param[in] _childToParent True to align the child to the parent,
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/// false to align the parent to the child.
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/// \param[in] _axis Axis of alignment (x/y/z)
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/// \param[in] _mode Alignment mode (min/center/max)
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/// \param[in] _reverse True to reverse alignment.
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public: void AlignLinks(const bool _childToParent,
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const std::string &_axis, const std::string &_mode,
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const bool _reverse);
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/// \brief Finalize joint creation.
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public: void FinalizeCreation();
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/// \brief Mouse event filter callback when mouse button is pressed.
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/// \param[in] _event The mouse event.
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/// \return True if the event was handled
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private: bool OnMousePress(const common::MouseEvent &_event);
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/// \brief Mouse event filter callback when mouse button is released.
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/// \param[in] _event The mouse event.
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/// \return True if the event was handled
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private: bool OnMouseRelease(const common::MouseEvent &_event);
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/// \brief Mouse event filter callback when mouse is moved.
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/// \param[in] _event The mouse event.
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/// \return True if the event was handled
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private: bool OnMouseMove(const common::MouseEvent &_event);
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/// \brief Mouse event filter callback when mouse is double clicked.
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/// \param[in] _event The mouse event.
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/// \return True if the event was handled
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private: bool OnMouseDoubleClick(const common::MouseEvent &_event);
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/// \brief Key event filter callback when key is pressed.
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/// \param[in] _event The key event.
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/// \return True if the event was handled
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private: bool OnKeyPress(const common::KeyEvent &_event);
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/// \brief Get the centroid of the link visual in world coordinates.
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/// \param[in] _visual Visual of the link.
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/// \return Centroid in world coordinates;
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private: ignition::math::Vector3d LinkWorldCentroid(
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const rendering::VisualPtr &_visual);
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/// \brief Open joint inspector.
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/// \param[in] _name Name of joint.
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private: void OpenInspector(const std::string &_name);
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/// \brief Get the scoped name of a link.
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/// \param[in] _name Unscoped link name.
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/// \return Scoped link name.
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private: std::string ScopedLinkName(const std::string &_name);
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/// \brief Show a joint's context menu
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/// \param[in] _joint Name of joint the context menu is associated with.
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private: void ShowContextMenu(const std::string &_joint);
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/// \brief Deselect all currently selected joint visuals.
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private: void DeselectAll();
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/// \brief Callback when an entity is selected.
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/// \param[in] _name Name of entity.
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/// \param[in] _mode Select mode
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private: void OnSetSelectedEntity(const std::string &_name,
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const std::string &_mode);
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/// \brief Callback when a joint is selected.
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/// \param[in] _name Name of joint.
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/// \param[in] _selected True if the joint is selected, false if
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/// deselected.
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private: void OnSetSelectedJoint(const std::string &_name,
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const bool _selected);
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/// \brief Add a link to the list.
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/// \param[in] _linkName Scoped link name.
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private: void OnLinkInserted(const std::string &_linkName);
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/// \brief Remove a link from the list.
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/// \param[in] _linkName Unique link identifying name.
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private: void OnLinkRemoved(const std::string &_linkName);
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/// \brief Create a joint line.
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/// \param[in] _name Name to give the visual that contains the joint line.
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/// \param[in] _parent Parent of the joint.
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/// \return joint data.
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private: JointData *CreateJointLine(const std::string &_name,
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const rendering::VisualPtr &_parent);
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/// \brief Get a link's visual from the link's name.
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/// \param[in] _name Link name, scoped or not.
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/// \return Pointer to link visual.
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private: rendering::VisualPtr LinkVisualFromName(
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const std::string &_name);
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/// \brief Set a new parent link for the joint being created.
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/// \sa SetParentLink(const std::string &_name);
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/// \param[in] _parentLink Pointer to the link visual.
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/// \return True if successfully set new parent.
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private: bool SetParentLink(const rendering::VisualPtr &_parentLink);
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/// \brief Set a new child link for the joint being created.
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/// \sa SetChildLink(const std::string &_name);
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/// \param[in] _childLink Pointer to the link visual.
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/// \return True if successfully set new child.
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private: bool SetChildLink(const rendering::VisualPtr &_childLink);
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/// \brief Highlight link visuals which have been moved while creating
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/// a new joint.
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/// \param[in] _vis Visual to be highlighted.
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/// \param[in] _moved Whether it moved or not.
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private: void SetVisualMoved(const rendering::VisualPtr &_vis,
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const bool _moved);
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/// \brief Qt signal when the joint creation process has ended.
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Q_SIGNALS: void JointAdded();
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/// \brief Qt signal to notify that a link has been inserted.
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/// \param[in] _linkId Link's unique name.
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Q_SIGNALS: void EmitLinkInserted(const std::string &_linkId);
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/// \brief Qt signal to notify that a link has been removed.
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/// \param[in] _linkId Link's unique name.
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Q_SIGNALS: void EmitLinkRemoved(const std::string &_linkId);
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/// \brief Qt Callback to open joint inspector
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private slots: void OnOpenInspector();
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/// \brief Qt callback when a delete signal has been emitted. This is
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/// currently triggered by the context menu via right click.
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private slots: void OnDelete();
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/// \brief A map of joint type to its string value.
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public: static std::map<JointMaker::JointType, std::string> jointTypes;
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/// \brief Constant vector containing [UnitX, UnitY, UnitZ].
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public: static std::vector<ignition::math::Vector3d> unitVectors;
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/// \brief A map of joint type to its corresponding material.
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public: static std::map<JointMaker::JointType, std::string>
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jointMaterials;
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<JointMakerPrivate> dataPtr;
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};
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/// \}
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/// \class JointData JointData.hh
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/// \brief Helper class to store joint data
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class GZ_GUI_VISIBLE JointData : public QObject
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{
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Q_OBJECT
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/// \brief Open the joint inspector.
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public: void OpenInspector();
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/// \brief Update this joint data. Avoid calling this directly, instead,
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/// set dirty to true and this will be called on PreRender.
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public: void Update();
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/// \brief Update the joint message based on the other fields.
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public: void UpdateMsg();
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/// \brief Name of the joint.
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public: std::string name;
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/// \brief Visual of the dynamic line
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public: rendering::VisualPtr visual;
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/// \brief Joint visual.
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public: rendering::JointVisualPtr jointVisual;
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/// \brieft Visual of the hotspot
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public: rendering::VisualPtr hotspot;
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/// \brief Parent visual the joint is connected to.
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public: rendering::VisualPtr parent;
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/// \brief Child visual the joint is connected to.
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public: rendering::VisualPtr child;
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/// \internal
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/// \brief Parent visual pose used to determine if updates are needed.
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public: ignition::math::Pose3d parentPose;
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/// \internal
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/// \brief Child visual pose used to determine if updates are needed.
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public: ignition::math::Pose3d childPose;
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/// \internal
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/// \brief Child visual scale used to determine if updates are needed.
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public: ignition::math::Vector3d childScale;
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/// \brief Visual line used to represent joint connecting parent and child
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public: rendering::DynamicLines *line;
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/// \brief Visual handle used to represent joint parent
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public: Ogre::BillboardSet *handles;
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/// \brief Type of joint.
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public: JointMaker::JointType type;
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/// \brief Last known axes values.
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public: std::vector<ignition::math::Vector3d> axes;
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/// \brief True if the joint needs update.
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public: bool dirty;
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/// \brief Msg containing joint data.
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public: msgs::JointPtr jointMsg;
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/// \brief Inspector for configuring joint properties.
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public: JointInspector *inspector;
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/// \brief Qt Callback when joint inspector is to be opened.
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private slots: void OnOpenInspector();
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/// \brief Qt Callback when joint inspector configurations are to be
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/// applied.
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private slots: void OnApply();
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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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