Pose3d.hh

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/*
 * Copyright (C) 2022 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 GZ_GAZEBO_GUI_COMPONENTINSPECTOR_POSE3D_HH_
#define GZ_GAZEBO_GUI_COMPONENTINSPECTOR_POSE3D_HH_
 
#include <gz/math/Pose3.hh>
 
#include "gz/sim/components/Pose.hh"
#include "gz/sim/components/PoseCmd.hh"
#include "gz/sim/EntityComponentManager.hh"
 
#include "ComponentInspector.hh"
#include "Types.hh"
 
#include <QObject>
#include <QStandardItem>
 
namespace ignition
{
namespace gazebo
{
class ComponentInspector;
namespace inspector
{
  class Pose3d : public QObject
  {
    Q_OBJECT
 
    public: explicit Pose3d(ComponentInspector *_inspector);
 
    public:
    template<typename ComponentType>
    void UpdateView(const EntityComponentManager &_ecm,
        QStandardItem *_item)
    {
      if (nullptr == _item)
        return;
 
      auto comp = _ecm.Component<ComponentType>(this->inspector->GetEntity());
      if (nullptr == comp)
        return;
 
      auto pose = comp->Data();
 
      _item->setData(QString("Pose3d"),
          ComponentsModel::RoleNames().key("dataType"));
      _item->setData(QList({
        QVariant(pose.Pos().X()),
        QVariant(pose.Pos().Y()),
        QVariant(pose.Pos().Z()),
        QVariant(pose.Rot().Roll()),
        QVariant(pose.Rot().Pitch()),
        QVariant(pose.Rot().Yaw())
      }), ComponentsModel::RoleNames().key("data"));
    }
 
    public: Q_INVOKABLE void OnPose(double _x, double _y, double _z,
        double _roll, double _pitch, double _yaw);
 
    private: ComponentInspector *inspector{nullptr};
  };
}
}
}
#endif