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ApplyWrenchVisual.hh
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/*
* Copyright (C) 2015 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 _GAZEBO_APPLYWRENCHVISUAL_HH_
#define _GAZEBO_APPLYWRENCHVISUAL_HH_
#include <string>
#include "gazebo/rendering/Visual.hh"
namespace gazebo
{
namespace rendering
{
class GAZEBO_VISIBLE ApplyWrenchVisual : public Visual
{
public: enum Mode
{
NONE = 0,
FORCE = 1,
TORQUE = 2
};
public: ApplyWrenchVisual(const std::string &_name, VisualPtr _parentVis);
public: virtual ~ApplyWrenchVisual();
// Documentation inherited.
public: void Load();
// Documentation inherited.
public: virtual void Fini();
public: void SetCoM(const ignition::math::Vector3d &_comVector);
public: void SetForcePos(const ignition::math::Vector3d &_forcePosVector);
public: void SetForce(const ignition::math::Vector3d &_forceVector,
const bool _rotatedByMouse);
public: void SetTorque(const ignition::math::Vector3d &_torqueVector,
const bool _rotatedByMouse);
public: void UpdateForceVisual();
public: void UpdateTorqueVisual();
public: void Resize();
public: rendering::VisualPtr GetForceVisual() const;
public: rendering::VisualPtr GetTorqueVisual() const;
public: rendering::SelectionObjPtr GetRotTool() const;
public: void SetMode(Mode _mode);
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::rendering::SelectionObjPtr
std::shared_ptr< SelectionObj > SelectionObjPtr
Definition: RenderTypes.hh:190
rendering
rendering
Definition: RenderEngine.hh:31
gazebo::rendering::Visual
A renderable object.
Definition: Visual.hh:60
Visual.hh
gazebo::rendering::ApplyWrenchVisual::Mode
Mode
Definition: ApplyWrenchVisual.hh:38
gazebo::rendering::VisualPtr
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
gazebo::rendering::ApplyWrenchVisual
Visualization for the apply wrench GUI.
Definition: ApplyWrenchVisual.hh:34
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59