CollisionConfig.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GAZEBO_GUI_MODEL_COLLISIONCONFIG_HH_
19 #define GAZEBO_GUI_MODEL_COLLISIONCONFIG_HH_
20 
21 #include <map>
22 #include <string>
23 
24 #include "gazebo/gui/qt.h"
26 
27 namespace gazebo
28 {
29  namespace gui
30  {
31  class ConfigWidget;
32 
35 
38  class CollisionConfigData : public QWidget
39  {
40  Q_OBJECT
41 
43  public slots: void RestoreOriginalData();
44 
47  private slots: void OnToggleItem(bool _checked);
48 
50  private slots: void OnGeometryChanged();
51 
55  Q_SIGNALS: void CollisionChanged(const std::string &_name,
56  const std::string &_type);
57 
59  public: int id;
60 
62  public: std::string name;
63 
66 
68  public: QWidget *widget;
69 
72  public: msgs::Collision originalDataMsg;
73  };
74 
77  class GZ_GUI_VISIBLE CollisionConfig : public QWidget
78  {
79  Q_OBJECT
80 
82  public: CollisionConfig();
83 
85  public: ~CollisionConfig();
86 
88  public: void Init();
89 
91  public slots: void RestoreOriginalData();
92 
97  public: void AddCollision(const std::string &_name,
98  const msgs::Collision *_collisionMsg = NULL);
99 
104  public: void UpdateCollision(const std::string &_name,
105  ConstCollisionPtr _collisionMsg);
106 
108  public: void Reset();
109 
112  public: unsigned int GetCollisionCount() const;
113 
117  public: msgs::Collision *GetData(const std::string &_name) const;
118 
123  public: void SetGeometry(const std::string &_name,
124  const ignition::math::Vector3d &_size, const std::string &_uri = "");
125 
130  public: void Geometry(const std::string &_name,
131  ignition::math::Vector3d &_size, std::string &_uri) const;
132 
136  public: void SetShowCollision(const bool _show, const std::string &_name);
137 
140  public: const std::map<int, CollisionConfigData *> &ConfigData() const;
141 
144  Q_SIGNALS: void CollisionRemoved(const std::string &_name);
145 
150  Q_SIGNALS: void CollisionAdded(const std::string &_name,
151  const std::string &_collisionShape);
152 
156  Q_SIGNALS: void ShowCollision(const bool _show, const std::string &_name);
157 
159  Q_SIGNALS: void Applied();
160 
164  private slots: void OnAddCollision(const QString &_collisionShape);
165 
168  private slots: void OnRemoveCollision(int _id);
169 
172  private slots: void OnShowCollision(const int _id);
173 
178  private slots: void OnPoseChanged(const QString &_name,
179  const ignition::math::Pose3d &_value);
180 
184  private slots: void OnCollisionChanged(
185  const std::string &_name, const std::string &_type);
186 
190  Q_SIGNALS: void CollisionChanged(
191  const std::string &_name, const std::string &_type);
192 
199  private slots: void OnGeometryChanged(const std::string &_name,
200  const std::string &_value,
201  const ignition::math::Vector3d &_dimensions,
202  const std::string &_uri);
203 
205  private: std::map<int, CollisionConfigData *> configs;
206 
208  private: std::map<int, CollisionConfigData *> deletedConfigs;
209 
211  private: std::map<int, CollisionConfigData *> addedConfigs;
212 
214  private: int counter;
215 
217  private: QSignalMapper *mapperRemove;
218 
220  private: QSignalMapper *mapperShow;
221 
223  private: QSignalMapper *mapperAdd;
224 
226  private: std::map<int, QTreeWidgetItem *> collisionItems;
227 
229  private: QVBoxLayout *listLayout;
230  };
232  }
233 }
234 #endif
void RestoreOriginalData()
Restore the widget's data to how it was when first opened.
void SetGeometry(const std::string &_name, const ignition::math::Vector3d &_size, const std::string &_uri="")
Set the geometry data of a collision.
Forward declarations for the common classes.
Definition: Animation.hh:27
void ShowCollision(const bool _show, const std::string &_name)
Qt signal emitted requesting to show/hide a collision.
const std::map< int, CollisionConfigData * > & ConfigData() const
Get collision config data.
#define NULL
Definition: CommonTypes.hh:31
void UpdateCollision(const std::string &_name, ConstCollisionPtr _collisionMsg)
Update a collision widget from a collision msg.
void CollisionChanged(const std::string &_name, const std::string &_type)
Signal to indicate a collision change.
void CollisionAdded(const std::string &_name, const std::string &_collisionShape)
Qt signal emitted when a collision is added.
~CollisionConfig()
Destructor.
void Reset()
Reset the collision tab.
QWidget * widget
Widget associated with this data.
Definition: CollisionConfig.hh:68
int id
Unique ID of this collision config.
Definition: CollisionConfig.hh:59
void Applied()
Qt signal emitted to indicate that changes should be applied.
void RestoreOriginalData()
Restore the widget's data to how it was when first opened.
void CollisionChanged(const std::string &_name, const std::string &_type)
Signal to indicate a collision change.
unsigned int GetCollisionCount() const
Get the number of collisions.
ConfigWidget * configWidget
Config widget for configuring collision properties.
Definition: CollisionConfig.hh:65
void SetShowCollision(const bool _show, const std::string &_name)
Set the state of a show collision button.
void AddCollision(const std::string &_name, const msgs::Collision *_collisionMsg=NULL)
Add a collision widget to the tab.
void Geometry(const std::string &_name, ignition::math::Vector3d &_size, std::string &_uri) const
Get the geometry data of a collision.
msgs::Collision * GetData(const std::string &_name) const
Get the msg containing all collision data.
A class of widgets used for configuring collision properties.
Definition: CollisionConfig.hh:39
gui
Definition: KeyEventHandler.hh:29
A tab for configuring collision properties of a link.
Definition: CollisionConfig.hh:78
void Init()
Initialize widget.
CollisionConfig()
Constructor.
A widget generated from a google protobuf message.
Definition: ConfigWidget.hh:194
std::string name
Name of the collision.
Definition: CollisionConfig.hh:62
void CollisionRemoved(const std::string &_name)
Qt signal emitted when a collision is removed.
msgs::Collision originalDataMsg
Message containing the data which was in the widget when first open.
Definition: CollisionConfig.hh:72