EnvironmentVisualization.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_SIM_GUI_ENVIRONMENTVISUALIZATION_HH_
#define GZ_SIM_GUI_ENVIRONMENTVISUALIZATION_HH_
 
#include <memory>
 
#include "gz/sim/gui/GuiSystem.hh"
#include "gz/gui/qt.h"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE
{
  class EnvironmentVisualizationTool;
 
  class EnvironmentVisualization : public gz::sim::GuiSystem
  {
    Q_OBJECT
 
    Q_PROPERTY(unsigned int xSamples MEMBER xSamples)
 
    
    Q_PROPERTY(unsigned int ySamples MEMBER ySamples)
 
    Q_PROPERTY(unsigned int zSamples MEMBER zSamples)
 
    public: EnvironmentVisualization();
 
    public: ~EnvironmentVisualization() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &,
                        EntityComponentManager &_ecm) override;
 
    public: Q_INVOKABLE void ResamplePointcloud();
 
    private: std::unique_ptr<EnvironmentVisualizationTool> dataPtr;
 
    public: unsigned int xSamples{10};
 
    public: unsigned int ySamples{10};
 
    public: unsigned int zSamples{10};
 
    private: QTimer* qtimer;
  };
}
}
}
#endif