robot.h

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/*
 * 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 <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
#include <OgreAny.h>
 
#include <urdf/model.h> // can be replaced later by urdf_model/types.h
 
#include <OgrePrerequisites.h>
 
namespace Ogre
{
class Any;
}
 
namespace rviz
{
class Object;
class Axes;
} // namespace rviz
 
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);
  ~Robot() override;
 
  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 ~LinkFactory() = default;
 
    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(const 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_ */