ViewAngle.hh

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef IGNITION_GAZEBO_GUI_VIEWANGLE_HH_
#define IGNITION_GAZEBO_GUI_VIEWANGLE_HH_

#include <ignition/msgs/pose.pb.h>

#include <memory>

#include <ignition/gui/Plugin.hh>

namespace ignition
{
namespace gazebo
{
  class ViewAnglePrivate;

  class ViewAngle : public ignition::gui::Plugin
  {
    Q_OBJECT

    Q_PROPERTY(
      QList<double> camPose
      READ CamPose
      NOTIFY CamPoseChanged
    )

    
    Q_PROPERTY(
      QList<double> camClipDist
      READ CamClipDist
      NOTIFY CamClipDistChanged
    )

    public: ViewAngle();

    public: ~ViewAngle() override;

    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;

    // Documentation inherited
    private: bool eventFilter(QObject *_obj, QEvent *_event) override;

    public slots: void OnAngleMode(int _x, int _y, int _z);

    public slots: void OnViewControl(const QString &_controller);

    public: Q_INVOKABLE QList<double> CamPose() const;

    signals: void CamPoseChanged();

    public slots: void SetCamPose(double _x, double _y, double _z,
                               double _roll, double _pitch, double _yaw);

    public: void CamPoseCb(const msgs::Pose &_msg);

    public: Q_INVOKABLE QList<double> CamClipDist() const;

    signals: void CamClipDistChanged();

    public slots: void SetCamClipDist(double _near, double _far);

    private: std::unique_ptr<ViewAnglePrivate> dataPtr;
  };
}
}

#endif