ApplyForceTorque.hh

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/*
 * Copyright (C) 2023 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_GUI_APPLYFORCETORQUE_HH_
#define GZ_GUI_APPLYFORCETORQUE_HH_
 
#include <memory>
 
#include <QString>
#include <QStringList>
#include <QObject>
#include <QEvent>
#include <QVector3D>
 
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/gui/GuiSystem.hh>
 
namespace gz
{
namespace sim
{
  class ApplyForceTorquePrivate;
 
  class ApplyForceTorque : public gz::sim::GuiSystem
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QString modelName
      READ ModelName
      NOTIFY ModelNameChanged
    )
 
    
    Q_PROPERTY(
      QStringList linkNameList
      READ LinkNameList
      NOTIFY LinkNameListChanged
    )
 
    Q_PROPERTY(
      int linkIndex
      READ LinkIndex
      WRITE SetLinkIndex
      NOTIFY LinkIndexChanged
    )
 
    Q_PROPERTY(
      QVector3D force
      READ Force
      WRITE SetForce
      NOTIFY ForceChanged
    )
 
    Q_PROPERTY(
      double forceMag
      READ ForceMag
      WRITE SetForceMag
      NOTIFY ForceMagChanged
    )
 
    Q_PROPERTY(
      QVector3D torque
      READ Torque
      WRITE SetTorque
      NOTIFY TorqueChanged
    )
 
    Q_PROPERTY(
      double torqueMag
      READ TorqueMag
      WRITE SetTorqueMag
      NOTIFY TorqueMagChanged
    )
 
    public: ApplyForceTorque();
 
    public: ~ApplyForceTorque() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation inherited
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &_info,
      EntityComponentManager &_ecm) override;
 
    public: Q_INVOKABLE QString ModelName() const;
 
    signals: void ModelNameChanged();
 
    public: Q_INVOKABLE QStringList LinkNameList() const;
 
    signals: void LinkNameListChanged();
 
    public: Q_INVOKABLE int LinkIndex() const;
 
    signals: void LinkIndexChanged();
 
    public: Q_INVOKABLE void SetLinkIndex(int _linkIndex);
 
    public: Q_INVOKABLE QVector3D Force() const;
 
    signals: void ForceChanged();
 
    public: Q_INVOKABLE void SetForce(QVector3D _force);
 
    public: Q_INVOKABLE double ForceMag() const;
 
    signals: void ForceMagChanged();
 
    public: Q_INVOKABLE void SetForceMag(double _forceMag);
 
    public: Q_INVOKABLE QVector3D Torque() const;
 
    signals: void TorqueChanged();
 
    public: Q_INVOKABLE void SetTorque(QVector3D _torque);
 
    public: Q_INVOKABLE double TorqueMag() const;
 
    signals: void TorqueMagChanged();
 
    public: Q_INVOKABLE void SetTorqueMag(double _torqueMag);
 
    public: Q_INVOKABLE void UpdateOffset(double _x, double _y, double _z);
 
    public: Q_INVOKABLE void ApplyForce();
 
    public: Q_INVOKABLE void ApplyTorque();
 
    public: Q_INVOKABLE void ApplyAll();
 
    private: std::unique_ptr<ApplyForceTorquePrivate> dataPtr;
  };
}
}
 
#endif