LinkConfig.hh
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1 /*
2  * Copyright (C) 2015 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_LINK_CONFIG_HH_
19 #define _GAZEBO_LINK_CONFIG_HH_
20 
21 #include <string>
22 
23 #include <ignition/math/Pose3.hh>
24 
25 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/gui/qt.h"
27 
28 namespace gazebo
29 {
30  namespace gui
31  {
32  class ConfigWidget;
33 
36 
39  class GZ_GUI_VISIBLE LinkConfig : public QWidget
40  {
41  Q_OBJECT
42 
44  public: LinkConfig();
45 
47  public: virtual ~LinkConfig();
48 
51  public: void Update(ConstLinkPtr _linkMsg);
52 
55  public: msgs::Link *GetData() const;
56 
59  public: void SetPose(const ignition::math::Pose3d &_pose);
60 
63  public: void SetMass(const double _mass);
64 
67  public: double Mass() const;
68 
71  public: void SetDensity(const double _density);
72 
75  public: double Density() const;
76 
84  public: void SetInertiaMatrix(const double _ixx, const double _iyy,
85  const double _izz, const double _ixy, const double _ixz,
86  const double _iyz);
87 
90  public: void SetInertialPose(const ignition::math::Pose3d &_pose);
91 
94  public: const ConfigWidget *LinkConfigWidget() const;
95 
97  public: void Init();
98 
100  public slots: void RestoreOriginalData();
101 
103  Q_SIGNALS: void Applied();
104 
107  Q_SIGNALS: void DensityValueChanged(const double _value);
108 
111  Q_SIGNALS: void MassValueChanged(const double _value);
112 
115  private slots: void OnDensityValueChanged(const double _value);
116 
119  private slots: void OnMassValueChanged(const double _value);
120 
125  private slots: void OnPoseChanged(const QString &_name,
126  const ignition::math::Pose3d &_value);
127 
129  private: ConfigWidget *configWidget;
130 
133  private: msgs::Link originalDataMsg;
134  };
136  }
137 }
138 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A widget generated from a google protobuf message.
Definition: ConfigWidget.hh:192
A tab for configuring properties of a link.
Definition: LinkConfig.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.