robot.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * 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_ROBOT_H_
#define RVIZ_ROBOT_H_

#include "link_updater.h"

#include <string>
#include <map>

#include <OgreVector3.h>
#include <OgreQuaternion.h>
#include <OgreAny.h>

#include <urdf/model.h> // can be replaced later by urdf_model/types.h

namespace Ogre
{
class SceneManager;
class Entity;
class SceneNode;
class Vector3;
class Quaternion;
class Any;
class RibbonTrail;
class SceneNode;
}

namespace rviz
{
class Object;
class Axes;
}

namespace tf
{
class TransformListener;
}

namespace rviz
{

class Property;
class EnumProperty;
class BoolProperty;
class Robot;
class RobotLink;
class RobotJoint;
class DisplayContext;

class Robot : public QObject
{
Q_OBJECT
public:
  Robot( Ogre::SceneNode* root_node, DisplayContext* context, const std::string& name, Property* parent_property );
  virtual ~Robot();

  virtual void load( const urdf::ModelInterface &urdf, bool visual = true, bool collision = true );

  virtual void clear();

  virtual void update(const LinkUpdater& updater);

  virtual void setVisible( bool visible );

  void setVisualVisible( bool visible );

  void setCollisionVisible( bool visible );

  bool isVisible();
  bool isVisualVisible();
  bool isCollisionVisible();

  void setAlpha(float a);
  float getAlpha() { return alpha_; }

  RobotLink* getRootLink() { return root_link_; }
  RobotLink* getLink( const std::string& name );
  RobotJoint* getJoint( const std::string& name );
  
  typedef std::map< std::string, RobotLink* > M_NameToLink;
  typedef std::map< std::string, RobotJoint* > M_NameToJoint;
  const M_NameToLink& getLinks() const { return links_; }
  const M_NameToJoint& getJoints() const { return joints_; }

  const std::string& getName() { return name_; }

  Ogre::SceneNode* getVisualNode() { return root_visual_node_; }
  Ogre::SceneNode* getCollisionNode() { return root_collision_node_; }
  Ogre::SceneNode* getOtherNode() { return root_other_node_; }
  Ogre::SceneManager* getSceneManager() { return scene_manager_; }
  DisplayContext* getDisplayContext() { return context_; }

  virtual void setPosition( const Ogre::Vector3& position );
  virtual void setOrientation( const Ogre::Quaternion& orientation );
  virtual void setScale( const Ogre::Vector3& scale );
  virtual const Ogre::Vector3& getPosition();
  virtual const Ogre::Quaternion& getOrientation();

  class LinkFactory
  {
  public:
    virtual RobotLink* createLink( Robot* robot,
                                   const urdf::LinkConstSharedPtr& link,
                                   const std::string& parent_joint_name,
                                   bool visual,
                                   bool collision);
    virtual RobotJoint* createJoint( Robot* robot,
                                     const urdf::JointConstSharedPtr& joint);
  };

  void setLinkFactory(LinkFactory *link_factory);


  enum LinkTreeStyle {
    STYLE_LINK_LIST,         // list of all links sorted by link name
    STYLE_DEFAULT = STYLE_LINK_LIST,
    STYLE_JOINT_LIST,        // list of joints sorted by joint name
    STYLE_LINK_TREE,         // tree of links
    STYLE_JOINT_LINK_TREE    // tree of joints with links
  };

  void setLinkTreeStyle(LinkTreeStyle style);

  Property *getLinkTreeProperty()
  {
    return link_tree_;
  }

  // set joint checkboxes and All Links Enabled checkbox based on current link enables.
  void calculateJointCheckboxes();

private Q_SLOTS:
  void changedLinkTreeStyle();
  void changedExpandTree();
  void changedHideSubProperties();
  void changedEnableAllLinks();
  void changedExpandLinkDetails();
  void changedExpandJointDetails();

protected:
  void updateLinkVisibilities();

  void unparentLinkProperties();

  // place sub properties under detail (or not)
  void useDetailProperty(bool use_detail);

  void addLinkToLinkTree(LinkTreeStyle style, Property *parent, RobotLink *link);
  void addJointToLinkTree(LinkTreeStyle style, Property *parent, RobotJoint *joint);

  // set the value of the EnableAllLinks property without affecting child links/joints.
  void setEnableAllLinksCheckbox(QVariant val);

  void initLinkTreeStyle();
  static bool styleShowLink(LinkTreeStyle style);
  static bool styleShowJoint(LinkTreeStyle style);
  static bool styleIsTree(LinkTreeStyle style);

  Ogre::SceneManager* scene_manager_;

  M_NameToLink links_;                      
  M_NameToJoint joints_;                    
  RobotLink *root_link_;

  LinkFactory *link_factory_;               

  Ogre::SceneNode* root_visual_node_;           
  Ogre::SceneNode* root_collision_node_;        
  Ogre::SceneNode* root_other_node_;

  bool visible_;                                
  bool visual_visible_;                         
  bool collision_visible_;                      

  DisplayContext* context_;
  Property* link_tree_;
  EnumProperty* link_tree_style_;
  BoolProperty* expand_tree_;
  BoolProperty* expand_link_details_;
  BoolProperty* expand_joint_details_;
  BoolProperty* enable_all_links_;
  std::map<LinkTreeStyle, std::string> style_name_map_;
  
  bool doing_set_checkbox_;   // used only inside setEnableAllLinksCheckbox()
  bool robot_loaded_;         // true after robot model is loaded.

  // true inside changedEnableAllLinks().  Prevents calculateJointCheckboxes()
  // from recalculating over and over.
  bool inChangedEnableAllLinks;

  std::string name_;
  float alpha_;
};

} // namespace rviz

#endif /* RVIZ_ROBOT_H_ */