17#ifndef GAZEBO_GUI_MODELALIGN_HH_
18#define GAZEBO_GUI_MODELALIGN_HH_
24#include <ignition/math/Box.hh>
25#include <ignition/math/Pose3.hh>
26#include <ignition/math/Vector3.hh>
43 class ModelAlignPrivate;
69 public:
void AlignVisuals(std::vector<rendering::VisualPtr> _visuals,
70 const std::string &_axis,
const std::string &_config,
71 const std::string &_target,
const bool _publish =
true,
72 const bool _inverted =
false);
79 const std::vector<ignition::math::Vector3d> &_vertices,
80 ignition::math::Vector3d &_min,
81 ignition::math::Vector3d &_max);
88 private:
void Transform(
const ignition::math::Box &_bbox,
89 const ignition::math::Pose3d &_worldPose,
90 std::vector<ignition::math::Vector3d> &_vertices);
98 const bool _highlight);
105 private: std::unique_ptr<ModelAlignPrivate> dataPtr;
gui
Definition KeyEventHandler.hh:29
gazebo
Definition ModelAlign.hh:37
gui
Definition ModelAlign.hh:37
Singleton template class.
Definition SingletonT.hh:34
A gui tool for aligning models.
Definition ModelAlign.hh:48
void Init()
Initialize the model alignment tool.
void Clear()
Clear the model alignment tool.
void AlignVisuals(std::vector< rendering::VisualPtr > _visuals, const std::string &_axis, const std::string &_config, const std::string &_target, const bool _publish=true, const bool _inverted=false)
Callback when a specific alignment configuration is set.
#define GZ_SINGLETON_DECLARE(visibility, n1, n2, singletonType)
Helper to declare typed SingletonT.
Definition SingletonT.hh:58
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
Forward declarations for the common classes.
Definition Animation.hh:27