.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_robot_robot_element_base_class.hpp:

Program Listing for File robot_element_base_class.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_robot_robot_element_base_class.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/robot/robot_element_base_class.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2013, Willow Garage, Inc.
    * Copyright (c) 2018, Bosch Software Innovations GmbH.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the Willow Garage, Inc. nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_ELEMENT_BASE_CLASS_HPP_
   #define RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_ELEMENT_BASE_CLASS_HPP_
   
   #include <map>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <OgreVector3.h>
   #include <OgreQuaternion.h>
   #include <OgreSceneNode.h>
   
   #include <QObject>  // NOLINT cpplint cannot handle include order here
   
   #include "urdf/model.h"  // can be replaced later by urdf_model/types.h
   #include "urdf_model/pose.h"
   
   #include "rviz_rendering/objects/object.hpp"
   #include "rviz_common/interaction/forwards.hpp"
   
   #include "rviz_default_plugins/visibility_control.hpp"
   
   namespace Ogre
   {
   class Quaternion;
   }  // namespace Ogre
   
   namespace rviz_rendering
   {
   class Axes;
   }  // namespace rviz_rendering
   
   namespace rviz_common
   {
   namespace properties
   {
   class FloatProperty;
   class Property;
   class BoolProperty;
   class QuaternionProperty;
   class VectorProperty;
   }  // namespace properties
   }  // namespace rviz_common
   
   namespace rviz_default_plugins
   {
   namespace robot
   {
   
   class Robot;
   
   class RVIZ_DEFAULT_PLUGINS_PUBLIC RobotElementBaseClass : public QObject
   {
     Q_OBJECT
   
   public:
     RobotElementBaseClass(Robot * robot, std::string name);
   
     // expand all sub properties
     void expandDetails(bool expand);
   
     // place subproperties as children of details_ or joint_property_
     void useDetailProperty(bool use_detail);
   
     // Remove robot_element_property_ from its old parent and add to new_parent.
     // If new_parent==NULL then leav unparented.
     void setParentProperty(rviz_common::properties::Property * new_parent);
   
     Ogre::Vector3 getPosition();
     Ogre::Quaternion getOrientation();
   
   private Q_SLOTS:
     void updateAxes();
   
   protected:
     Robot * robot_;
     std::string name_;                          
   
     // properties
     rviz_common::properties::Property * robot_element_property_;  // either joint or link property.
     rviz_common::properties::Property * details_;
     rviz_common::properties::VectorProperty * position_property_;
     rviz_common::properties::QuaternionProperty * orientation_property_;
     rviz_common::properties::Property * axes_property_;
     std::shared_ptr<rviz_rendering::Axes> axes_;
   
   private:
     virtual bool getEnabled() const = 0;
   };
   
   }  // namespace robot
   }  // namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_ELEMENT_BASE_CLASS_HPP_