InventorViewer.h

Go to the documentation of this file.

#ifndef URDF_VIEWER_INVENTORVIEWER_H
#define URDF_VIEWER_INVENTORVIEWER_H
// Copyright Jennifer Buehler

#include <Inventor/Qt/SoQt.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoSelection.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoEventCallback.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/nodes/SoMaterial.h>

#include <Eigen/Geometry>

#include <vector>
#include <map>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>

namespace urdf_viewer
{
class InventorViewer
{
public:

    explicit InventorViewer(bool _faces_ccw = true);

    InventorViewer(const InventorViewer& o);
    ~InventorViewer();


    void init(const char * windowName = "InventorViewer", float bck_r=0.3, float bck_g=0.3, float bck_b=0.3);

    void loadModel(SoNode * model);

    bool loadModel(const std::string& filename);

    void runViewer();

protected:

    virtual void onClickModel(const SoPickedPoint * pickPoint) {}
    virtual void onMouseBtnClick(SoEventCallback *pNode) {}

    static bool computeCorrectFaceNormal(const SoPickedPoint * pick, bool ccw_face, Eigen::Vector3d& normal, int& shapeIdx);

    static SoNode * getIntStr(const std::string& sscanfStr, const SoPath * path, std::string& str, int& num, int& pathIdx);

    SoQtExaminerViewer * getViewer()
    {
        return viewer;
    }

    SoSelection * getRoot()
    {
        return root;
    }

    bool isFacesCCW() const
    {
        return faces_ccw;
    }

private:

    static void mouseBtnCB(void *userData, SoEventCallback *pNode);

    QWidget * viewWindow;
    SoQtExaminerViewer * viewer;
    bool faces_ccw;
    SoSelection * root;
    bool initialized;
};

}  //  namespace urdf_viewer
#endif   // URDF_VIEWER_INVENTORVIEWER_H