JointVisual.hh

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/*
 * Copyright (C) 2021 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_RENDERING_JOINTVISUAL_HH_
#define IGNITION_RENDERING_JOINTVISUAL_HH_

#include <string>

#include <ignition/math/Vector3.hh>

#include "ignition/rendering/config.hh"
#include "ignition/rendering/Object.hh"
#include "ignition/rendering/RenderTypes.hh"
#include "ignition/rendering/Visual.hh"

namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    enum IGNITION_RENDERING_VISIBLE JointVisualType
    {
      JVT_NONE           = 0,

      JVT_REVOLUTE       = 1,

      JVT_REVOLUTE2      = 2,

      JVT_PRISMATIC      = 3,

      JVT_UNIVERSAL      = 4,

      JVT_BALL           = 5,

      JVT_SCREW          = 6,

      JVT_GEARBOX        = 7,

      JVT_FIXED          = 8
    };

    class IGNITION_RENDERING_VISIBLE JointVisual :
      public virtual Visual
    {
      public: virtual ~JointVisual() {}

      public: virtual void SetAxis(const ignition::math::Vector3d &_axis,
          bool _useParentFrame = false) = 0;

      public: virtual ignition::math::Vector3d Axis() const = 0;

      public: virtual void SetParentAxis(
          const ignition::math::Vector3d &_axis,
          const std::string &_parentName,
          bool _useParentFrame = false) = 0;

      public: virtual ignition::math::Vector3d ParentAxis() const = 0;

      public: virtual bool UpdateAxis(const ignition::math::Vector3d &_axis,
          bool _useParentFrame = false) = 0;

      public: virtual bool UpdateParentAxis(
          const ignition::math::Vector3d &_axis,
          bool _useParentFrame = false) = 0;

      public: virtual void SetType(const JointVisualType _type) = 0;

      public: virtual JointVisualType Type() const = 0;

      public: virtual JointVisualPtr ParentAxisVisual() const = 0;

      public: virtual ArrowVisualPtr ArrowVisual() const = 0;
    };
    }
  }
}
#endif