72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
/*
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* Copyright (C) 2012 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_RENDERING_WRENCHVISUAL_HH_
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#define GAZEBO_RENDERING_WRENCHVISUAL_HH_
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#include <string>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/rendering/Visual.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 rendering
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{
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class WrenchVisual WrenchVisual.hh rendering/rendering.hh
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/// \brief Visualization for wrench data. It consists of a purple line
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/// pointing at the force direction and 3 RGB cones representing the torque
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/// about the XYZ directions.
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class GZ_RENDERING_VISIBLE WrenchVisual : public Visual
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{
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/// \brief Constructor.
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/// \param[in] _name Name of the visual.
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/// \param[in] _vis Pointer to the parent Visual.
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/// \param[in] _topicName Name of the topic that has sonar data.
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public: WrenchVisual(const std::string &_name, VisualPtr _vis,
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const std::string &_topicName);
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/// \brief Destructor.
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public: virtual ~WrenchVisual();
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/// \brief Load the visual based on a message
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/// \param[in] _msg Joint message
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public: void Load(ConstJointPtr &_msg);
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using Visual::Load;
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// Documentation inherited
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public: void Fini();
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/// \brief Set to true to enable wrench visualization.
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/// \param[in] _enabled True to show wrenches, false to hide.
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public: void SetEnabled(bool _enabled);
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/// \brief Callback when sonar data is received.
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private: void OnMsg(ConstWrenchStampedPtr &_msg);
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/// \brief Update the wrench visual.
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private: void Update();
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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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