111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#ifndef _GAZEBO_LINK_CONFIG_HH_
|
|
#define _GAZEBO_LINK_CONFIG_HH_
|
|
|
|
#include <string>
|
|
|
|
#include "gazebo/math/Pose.hh"
|
|
#include "gazebo/msgs/msgs.hh"
|
|
|
|
#include "gazebo/gui/qt.h"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace gui
|
|
{
|
|
class ConfigWidget;
|
|
|
|
/// \addtogroup gazebo_gui
|
|
/// \{
|
|
|
|
/// \class LinkConfig LinkConfig.hh
|
|
/// \brief A tab for configuring properties of a link.
|
|
class GZ_GUI_VISIBLE LinkConfig : public QWidget
|
|
{
|
|
Q_OBJECT
|
|
|
|
/// \brief Constructor
|
|
public: LinkConfig();
|
|
|
|
/// \brief Destructor
|
|
public: ~LinkConfig();
|
|
|
|
/// \brief Update the link config widget with a link msg.
|
|
/// \param[in] _linkMsg Link message.
|
|
public: void Update(ConstLinkPtr _linkMsg);
|
|
|
|
/// \brief Get the msg containing all link data.
|
|
/// \return Link msg.
|
|
public: msgs::Link *GetData() const;
|
|
|
|
/// \brief Set the pose of the link.
|
|
/// \param[in] _pose Pose to set the link to.
|
|
public: void SetPose(const ignition::math::Pose3d &_pose);
|
|
|
|
/// \brief Set the mass of the link.
|
|
/// \param[in] _mass Mass to set the link to.
|
|
public: void SetMass(const double _mass);
|
|
|
|
/// \brief Set the inertia matrix of the link.
|
|
/// \param[in] _ixx X second moment of inertia (MOI) about x axis.
|
|
/// \param[in] _iyy Y second moment of inertia about y axis.
|
|
/// \param[in] _izz Z second moment of inertia about z axis.
|
|
/// \param[in] _ixy XY inertia.
|
|
/// \param[in] _ixz XZ inertia.
|
|
/// \param[in] _iyz YZ inertia.
|
|
public: void SetInertiaMatrix(const double _ixx, const double _iyy,
|
|
const double _izz, const double _ixy, const double _ixz,
|
|
const double _iyz);
|
|
|
|
/// \brief Set the inertial pose of the link.
|
|
/// \param[in] _pose Inertial pose to set the link to.
|
|
public: void SetInertialPose(const ignition::math::Pose3d &_pose);
|
|
|
|
/// \brief Get the config widget for the link
|
|
/// \return Config widget for the link.
|
|
public: const ConfigWidget *LinkConfigWidget() const;
|
|
|
|
/// \brief Initialize widget.
|
|
public: void Init();
|
|
|
|
/// \brief Restore the widget's data to how it was when first opened.
|
|
public slots: void RestoreOriginalData();
|
|
|
|
/// \brief Qt signal emitted to indicate that changes should be applied.
|
|
Q_SIGNALS: void Applied();
|
|
|
|
/// \brief Qt callback when a pose value has changed.
|
|
/// \param[in] _name of widget in the config widget that emitted the
|
|
/// signal.
|
|
/// \param[in] _value New value.
|
|
private slots: void OnPoseChanged(const QString &_name,
|
|
const ignition::math::Pose3d &_value);
|
|
|
|
/// \brief config widget for configuring link properties.
|
|
private: ConfigWidget *configWidget;
|
|
|
|
/// \brief Message containing the data which was in the widget when first
|
|
/// open.
|
|
private: msgs::Link originalDataMsg;
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|