robot_joint.h
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_ROBOT_JOINT_H
00031 #define RVIZ_ROBOT_JOINT_H
00032 
00033 #include <string>
00034 #include <map>
00035 
00036 #include <QObject>
00037 
00038 #include <OgreVector3.h>
00039 #include <OgreQuaternion.h>
00040 #include <OgreAny.h>
00041 #include <OgreMaterial.h>
00042 
00043 #include "rviz/ogre_helpers/object.h"
00044 #include "rviz/selection/forwards.h"
00045 
00046 namespace Ogre
00047 {
00048 class SceneManager;
00049 class Entity;
00050 class SubEntity;
00051 class SceneNode;
00052 class Vector3;
00053 class Quaternion;
00054 class Any;
00055 class RibbonTrail;
00056 }
00057 
00058 namespace urdf
00059 {
00060 class ModelInterface;
00061 class Link;
00062 class Joint;
00063 class Geometry;
00064 class Pose;
00065 }
00066 
00067 namespace rviz
00068 {
00069 class Shape;
00070 class Axes;
00071 class DisplayContext;
00072 class FloatProperty;
00073 class Property;
00074 class BoolProperty;
00075 class QuaternionProperty;
00076 class Robot;
00077 class RobotLinkSelectionHandler;
00078 class VectorProperty;
00079 class RobotJoint;
00080 
00081 
00086 class RobotJoint: public QObject
00087 {
00088 Q_OBJECT
00089 public:
00090   RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
00091   virtual ~RobotJoint();
00092 
00093 
00094   void setTransforms(const Ogre::Vector3& parent_link_position,
00095                      const Ogre::Quaternion& parent_link_orientation);
00096 
00097   const std::string& getName() const { return name_; }
00098   const std::string& getParentLinkName() const { return parent_link_name_; }
00099   const std::string& getChildLinkName() const { return child_link_name_; }
00100   const Property* getJointProperty() const { return joint_property_; }
00101   Property* getJointProperty() { return joint_property_; }
00102   RobotJoint* getParentJoint();
00103   void hideSubProperties(bool hide);
00104 
00105   // Remove joint_property_ from its old parent and add to new_parent.  If new_parent==NULL then leav unparented.
00106   void setParentProperty(Property* new_parent);
00107 
00108   Ogre::Vector3 getPosition();
00109   Ogre::Quaternion getOrientation();
00110 
00111   void setRobotAlpha(float a) {}
00112 
00113   bool hasDescendentLinksWithGeometry() const { return has_decendent_links_with_geometry_; }
00114 
00115   // place subproperties as children of details_ or joint_property_
00116   void useDetailProperty(bool use_detail);
00117 
00118   // expand all sub properties
00119   void expandDetails(bool expand);
00120 
00121   // Set the description for the joint.
00122   // Also sets the checkbox.
00123   // Also sets has_decendent_links_with_geometry_.
00124   // Called when the link_tree style changes.
00125   void setJointPropertyDescription();
00126 
00127   // set checkboxes based on state of descendent link enables
00128   // Should only be called by Robot::calculateJointCheckboxes()
00129   void calculateJointCheckboxesRecursive(
00130       int& links_with_geom,             // returns # of children with geometry
00131       int& links_with_geom_checked,     // returns # of enabled children with geometry
00132       int& links_with_geom_unchecked);  // returns # of disabled children with geometry
00133 
00134 
00135 private Q_SLOTS:
00136   void updateAxes();
00137   void updateChildVisibility();
00138 
00139 private:
00140   bool getEnabled() const;
00141 
00142   // true if displaying in a tree style.  False if list style.
00143   bool styleIsTree() const;
00144 
00145   // determine the state of child link(s)
00146   void getChildLinkState(
00147       int& links_with_geom,             // returns # of children with geometry
00148       int& links_with_geom_checked,     // returns # of enabled children with geometry
00149       int& links_with_geom_unchecked,   // returns # of disabled children with geometry
00150       bool recursive) const;            // True: all descendant links.  False: just single child link.
00151 
00152   // set the value of the enable checkbox without touching child joints/links
00153   void setJointCheckbox(QVariant val);
00154 
00155 
00156 protected:
00157   Robot* robot_;
00158   std::string name_;                          
00159   std::string parent_link_name_;
00160   std::string child_link_name_;
00161 
00162   // properties
00163   Property* joint_property_;
00164   Property* details_;
00165   VectorProperty* position_property_;
00166   QuaternionProperty* orientation_property_;
00167   Property* axes_property_;
00168 
00169 private:
00170   Ogre::Vector3 joint_origin_pos_;
00171   Ogre::Quaternion joint_origin_rot_;
00172   bool has_decendent_links_with_geometry_;
00173 
00174   bool doing_set_checkbox_;   // prevents updateChildVisibility() from  touching children
00175 
00176   Axes* axes_;
00177 };
00178 
00179 } // namespace rviz
00180 
00181 #endif // RVIZ_ROBOT_LINK_H


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:28