Plotting.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_GUI_PLUGINS_PLOTTING_HH_
#define GZ_GUI_PLUGINS_PLOTTING_HH_
 
#include <gz/gui/qt.h>
#include <gz/gui/Application.hh>
#include <gz/gui/PlottingInterface.hh>
#include <gz/sim/gui/GuiSystem.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/SphericalCoordinates.hh>
#include <gz/msgs/light.pb.h>
 
#include "sdf/Physics.hh"
 
#include <map>
#include <string>
#include <memory>
 
namespace gz {
 
namespace sim {
 
class PlotComponentPrivate;
 
class PlotComponent
{
  public: PlotComponent(const std::string &_type,
                        gz::sim::Entity _entity,
                        ComponentTypeId _typeId);
 
  public: ~PlotComponent();
 
  public: void RegisterChart(std::string _attribute, int _chart);
 
  public: void UnRegisterChart(std::string _attribute, int _chart);
 
  public: bool HasCharts();
 
  public: void SetAttributeValue(std::string _attribute, const double &_value);
 
  public: std::map<std::string, std::shared_ptr<gz::gui::PlotData>>
    Data() const;
 
  public: gz::sim::Entity Entity();
 
  public: ComponentTypeId TypeId();
 
  private: std::unique_ptr<PlotComponentPrivate> dataPtr;
};
 
class PlottingPrivate;
 
class Plotting : public gz::sim::GuiSystem
{
  Q_OBJECT
  public: Plotting();
 
  public: ~Plotting();
 
  // Documentation inherited
  public: void LoadConfig(const tinyxml2::XMLElement *) override;
 
  // Documentation inherited
  public: void Update(const gz::sim::UpdateInfo &_info,
                      gz::sim::EntityComponentManager &_ecm) override;
 
  public: void SetData(std::string _Id,
                       const gz::math::Vector3d &_vector);
 
   public: void SetData(std::string _Id,
                        const msgs::Light &_light);
 
  public: void SetData(std::string _Id,
                       const gz::math::Pose3d &_pose);
 
  public: void SetData(std::string _Id, const math::SphericalCoordinates &_sc);
 
  public: void SetData(std::string _Id, const sdf::Physics &_physics);
 
  public: void SetData(std::string _Id, const double &_value);
 
  public slots: void RegisterChartToComponent(uint64_t _entity,
                                              uint64_t _typeId,
                                              std::string _type,
                                              std::string _attribute,
                                              int _chart);
 
  public slots: void UnRegisterChartFromComponent(uint64_t _entity,
                                                  uint64_t _typeId,
                                                  std::string _attribute,
                                                  int _chart);
 
  public slots: std::string ComponentName(const uint64_t &_typeId);
 
  private: std::unique_ptr<PlottingPrivate> dataPtr;
};
}
}
 
#endif