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// Copyright (c) 2015-2022, LAAS-CNRS, Heriot-Watt University |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#ifndef GEPETTO_GUI_PLUGININTERFACE_HH |
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#define GEPETTO_GUI_PLUGININTERFACE_HH |
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#include <gepetto/gui/fwd.hh> |
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// This include must be include before any other Qt include for GLDEBUGPROC |
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#include <QOpenGLContext> |
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#include <QWidget> |
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#include <gepetto/gui/dialog/dialogloadenvironment.hh> |
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#include <gepetto/gui/dialog/dialogloadrobot.hh> |
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#include <iostream> |
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namespace gepetto { |
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namespace gui { |
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const int DockKeyShortcutBase = Qt::CTRL + Qt::ALT; |
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/// \ingroup plugin_cpp |
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/// Base interface for C++ plugins. |
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class PluginInterface { |
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public: |
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PluginInterface() : errorMsg_("Not initalized"), isInit_(false) {} |
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virtual ~PluginInterface() {} |
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virtual QString name() const = 0; |
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void doInit() { |
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try { |
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init(); |
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isInit_ = true; |
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} catch (const std::exception& e) { |
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errorMsg_ = QString(e.what()); |
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} |
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} |
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bool isInit() const { return isInit_; } |
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const QString& errorMsg() const { return errorMsg_; } |
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protected: |
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virtual void init() = 0; |
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private: |
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QString errorMsg_; |
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bool isInit_; |
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}; |
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/// \ingroup plugin_cpp |
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/// Interface to add actions to the joint tree. |
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class JointModifierInterface { |
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public: |
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virtual ~JointModifierInterface() {} |
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virtual QAction* action(const std::string& jointName) const = 0; |
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}; |
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/// \ingroup plugin_cpp |
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/// Interface to load robot models. |
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class ModelInterface { |
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public: |
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virtual ~ModelInterface() {} |
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virtual void loadRobotModel(DialogLoadRobot::RobotDefinition rd) = 0; |
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virtual void loadEnvironmentModel( |
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DialogLoadEnvironment::EnvironmentDefinition ed) = 0; |
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virtual std::string getBodyFromJoint(const std::string& jointName) const = 0; |
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}; |
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/// \ingroup plugin_cpp |
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/// You must implement this interface is you have corba clients. |
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class ConnectionInterface { |
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public: |
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virtual ~ConnectionInterface() {} |
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virtual void openConnection() = 0; |
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virtual void closeConnection() = 0; |
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}; |
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} // namespace gui |
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} // namespace gepetto |
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Q_DECLARE_INTERFACE(gepetto::gui::PluginInterface, "gepetto-gui.plugins/0.0") |
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Q_DECLARE_INTERFACE(gepetto::gui::JointModifierInterface, |
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"gepetto-gui.plugin.joint-modifier/0.0") |
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Q_DECLARE_INTERFACE(gepetto::gui::ModelInterface, |
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"gepetto-gui.plugin.model/0.0") |
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Q_DECLARE_INTERFACE(gepetto::gui::ConnectionInterface, |
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"gepetto-gui.plugin.connection/0.0") |
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#endif // GEPETTO_GUI_PLUGININTERFACE_HH |