Program Listing for File robot_joint.hpp
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/*
* Copyright (c) 2013, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* All rights reserved.
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* modification, are permitted provided that the following conditions are met:
*
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* notice, this list of conditions and the following disclaimer in the
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* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_JOINT_HPP_
#define RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_JOINT_HPP_
#include <map>
#include <memory>
#include <string>
#ifndef Q_MOC_RUN
#include <OgreVector3.h>
#include <OgreQuaternion.h>
#include <OgreAny.h>
#include <OgreMaterial.h>
#endif
#include <QObject>
#include "urdf/model.h"
#include "urdf_model/pose.h"
#include "rviz_rendering/objects/object.hpp"
#include "rviz_common/interaction/forwards.hpp"
#include "rviz_default_plugins/robot/robot_element_base_class.hpp"
#include "rviz_default_plugins/robot/robot_link.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace Ogre
{
class Quaternion;
} // namespace Ogre
namespace rviz_rendering
{
class Arrow;
} // namespace rviz_rendering
namespace rviz_common
{
namespace properties
{
class BoolProperty;
class FloatProperty;
class Property;
class QuaternionProperty;
class StringProperty;
class VectorProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace robot
{
class Robot;
class RVIZ_DEFAULT_PLUGINS_PUBLIC RobotJoint : public RobotElementBaseClass
{
Q_OBJECT
public:
RobotJoint(Robot * robot, const urdf::JointConstSharedPtr & joint);
~RobotJoint() override;
void setTransforms(
const Ogre::Vector3 & parent_link_position,
const Ogre::Quaternion & parent_link_orientation);
const std::string & getName() const {return name_;}
const std::string & getParentLinkName() const {return parent_link_name_;}
const std::string & getChildLinkName() const {return child_link_name_;}
const rviz_common::properties::Property * getJointProperty() const
{
return robot_element_property_;
}
rviz_common::properties::Property * getJointProperty() {return robot_element_property_;}
RobotJoint * getParentJoint();
bool hasDescendentLinksWithGeometry() const {return has_decendent_links_with_geometry_;}
// Set the description for the joint.
// Also sets the checkbox.
// Also sets has_decendent_links_with_geometry_.
// Called when the link_tree style changes.
void setJointPropertyDescription();
// set checkboxes based on state of descendent link enables
// Should only be called by Robot::calculateJointCheckboxes()
void calculateJointCheckboxesRecursive(
int & links_with_geom, // returns # of children with geometry
int & links_with_geom_checked, // returns # of enabled children with geometry
int & links_with_geom_unchecked); // returns # of disabled children with geometry
private Q_SLOTS:
void updateAxis();
void updateChildVisibility();
private:
bool getEnabled() const override;
// true if displaying in a tree style. False if list style.
bool styleIsTree() const;
// determine the state of child link(s)
void getChildLinkState(
int & links_with_geom, // returns # of children with geometry
int & links_with_geom_checked, // returns # of enabled children with geometry
int & links_with_geom_unchecked, // returns # of disabled children with geometry
bool recursive); // True: all descendant links.
// False: just single child link.
// set the value of the enable checkbox without touching child joints/links
void setJointCheckbox(QVariant val);
std::string getType(const urdf::JointConstSharedPtr & joint) const;
void showLimitProperties(const urdf::JointConstSharedPtr & joint);
void showAxisForMovingJoints(const urdf::JointConstSharedPtr & joint, const std::string & type);
protected:
std::string parent_link_name_;
std::string child_link_name_;
// properties
// The joint axis if any, as opposed to the frame in which the joint exists above
rviz_common::properties::VectorProperty * axis_property_;
rviz_common::properties::Property * show_axis_property_;
rviz_common::properties::StringProperty * type_property_;
rviz_common::properties::FloatProperty * lower_limit_property_;
rviz_common::properties::FloatProperty * upper_limit_property_;
private:
RobotLink * links_checked_and_unchecked(
int & links_with_geom_checked,
int & links_with_geom_unchecked);
int links_with_geom(
RobotLink * link, int & links_with_geom_checked,
int & links_with_geom_unchecked, int n_args, ...);
Ogre::Vector3 joint_origin_pos_;
Ogre::Quaternion joint_origin_rot_;
bool has_decendent_links_with_geometry_;
bool doing_set_checkbox_; // prevents updateChildVisibility() from touching children
std::unique_ptr<rviz_rendering::Arrow> axis_;
};
} // namespace robot
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__ROBOT__ROBOT_JOINT_HPP_