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 GZ_GAZEBO_GUI_VIEWANGLE_HH_
#define GZ_GAZEBO_GUI_VIEWANGLE_HH_
 
#include <gz/msgs/pose.pb.h>
#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/gui_camera.pb.h>
 
#include <memory>
 
#include <gz/gui/Plugin.hh>
 
namespace ignition
{
namespace gazebo
{
  class ViewAnglePrivate;
 
  class ViewAngle : public gz::gui::Plugin
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QList<double> camPose
      READ CamPose
      NOTIFY CamPoseChanged
    )
 
    
    Q_PROPERTY(
      QList<double> camClipDist
      READ CamClipDist
      NOTIFY CamClipDistChanged
    )
 
    Q_PROPERTY(
      int viewControlIndex
      READ ViewControlIndex
      NOTIFY ViewControlIndexChanged
    )
 
    Q_PROPERTY(
      double horizontalFOV
      READ HorizontalFOV
      NOTIFY CamHorizontalFOVChanged
    )
 
    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 slots: void OnViewControlReferenceVisual(bool _enable);
 
    public slots: void OnViewControlSensitivity(double _sensitivity);
 
    public slots: void SetHorizontalFOV(double _horizontalFOV);
 
    public: Q_INVOKABLE double HorizontalFOV() const;
 
    signals: void CamHorizontalFOVChanged();
 
    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: bool OnMoveToModelService(const ignition::msgs::GUICamera &_msg,
      ignition::msgs::Boolean &_res);
 
    public: Q_INVOKABLE QList<double> CamClipDist() const;
 
    signals: void CamClipDistChanged();
 
    public slots: void SetCamClipDist(double _near, double _far);
 
    public: int ViewControlIndex() const;
 
    signals: void ViewControlIndexChanged();
 
    private: std::unique_ptr<ViewAnglePrivate> dataPtr;
  };
}
}
 
#endif