InteractiveFrame.hpp

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#ifndef DART_GUI_OSG_INTERACTIVEFRAME_HPP_
#define DART_GUI_OSG_INTERACTIVEFRAME_HPP_
 
#include "dart/dynamics/SimpleFrame.hpp"
 
namespace dart {
 
namespace dynamics {
class MeshShape;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
class InteractiveFrame;
 
class InteractiveTool : public dart::dynamics::SimpleFrame
{
public:
 
  enum Type {
 
    LINEAR = 0, 
    ANGULAR,    
    PLANAR,     
 
    NUM_TYPES
  };
 
  InteractiveTool(InteractiveFrame* frame, double defaultAlpha,
                  const std::string& name);
 
  void setEnabled(bool enabled);
 
  bool getEnabled() const;
 
  void setAlpha(double alpha);
 
  void resetAlpha();
 
  void setDefaultAlpha(double alpha, bool reset=true);
 
  double getDefaultAlpha() const;
 
  InteractiveFrame* getInteractiveFrame();
 
  const InteractiveFrame* getInteractiveFrame() const;
 
  dart::dynamics::SimpleFrame* addShapeFrame(
      const dart::dynamics::ShapePtr& shape);
 
  const std::vector<dart::dynamics::SimpleFrame*> getShapeFrames();
 
  const std::vector<const dart::dynamics::SimpleFrame*> getShapeFrames() const;
 
  void removeAllShapeFrames();
 
protected:
 
  std::vector<std::unique_ptr<dart::dynamics::SimpleFrame>> mSimpleFrames;
 
  double mDefaultAlpha;
 
  bool mEnabled;
 
  InteractiveFrame* mInteractiveFrame;
 
};
 
class InteractiveFrame : public dart::dynamics::SimpleFrame
{
public:
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(InteractiveFrame)
 
  
  InteractiveFrame(
    dart::dynamics::Frame* referenceFrame,
    const std::string& name = "interactive_frame",
    const Eigen::Isometry3d& relativeTransform = Eigen::Isometry3d::Identity(),
    double size_scale=0.2, double thickness_scale=2.0);
 
  virtual ~InteractiveFrame();
 
  virtual void resizeStandardVisuals(double size_scale=0.2,
                                     double thickness_scale=2.0);
 
  InteractiveTool* getTool(InteractiveTool::Type tool, std::size_t coordinate);
 
  const InteractiveTool* getTool(InteractiveTool::Type tool,
                                 std::size_t coordinate) const;
 
  dart::dynamics::SimpleFrame* addShapeFrame(
      const dart::dynamics::ShapePtr& shape);
 
  const std::vector<dart::dynamics::SimpleFrame*> getShapeFrames();
 
  const std::vector<const dart::dynamics::SimpleFrame*> getShapeFrames() const;
 
  void removeAllShapeFrames();
 
protected:
  void createStandardVisualizationShapes(double size, double thickness);
 
  void deleteAllVisualizationShapes();
 
  void deleteAllTools();
 
  InteractiveTool* mTools[InteractiveTool::NUM_TYPES][3];
 
  std::vector<std::unique_ptr<dart::dynamics::SimpleFrame>> mSimpleFrames;
 
};
 
typedef std::shared_ptr<InteractiveFrame> InteractiveFramePtr;
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_INTERACTIVEFRAME_HPP_