VisualizeContacts.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_VISUALIZECONTACTS_HH_
#define IGNITION_GAZEBO_GUI_VISUALIZECONTACTS_HH_
 
#include <memory>
 
#include <gz/sim/gui/GuiSystem.hh>
 
#include "gz/gui/qt.h"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
{
  class VisualizeContactsPrivate;
 
  class VisualizeContacts : public ignition::gazebo::GuiSystem
  {
    Q_OBJECT
 
    public: VisualizeContacts();
 
    public: ~VisualizeContacts() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &_info,
        EntityComponentManager &_ecm) override;
 
    public slots: void OnVisualize(bool _checked);
 
    public slots: void UpdateRadius(double _radius);
 
    public slots: void UpdatePeriod(double _period);
 
    private: std::unique_ptr<VisualizeContactsPrivate> dataPtr;
  };
}
}
}
 
#endif