Program Listing for File robot_element_base_class.hpp
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/*
* 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
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#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_