Gazebo Gui

API Reference

8.1.0
Teleop.hh
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1/*
2 * Copyright (C) 2021 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_GUI_PLUGINS_TELEOP_HH_
19#define GZ_GUI_PLUGINS_TELEOP_HH_
20
21#include <memory>
22
23#include <gz/transport/Node.hh>
24
25#include <gz/gui/Plugin.hh>
26#include <gz/gui/qt.h>
27
28#ifndef _WIN32
29# define Teleop_EXPORTS_API
30#else
31# if (defined(Teleop_EXPORTS))
32# define Teleop_EXPORTS_API __declspec(dllexport)
33# else
34# define Teleop_EXPORTS_API __declspec(dllimport)
35# endif
36#endif
37
38namespace gz::gui::plugins
39{
40 class TeleopPrivate;
41
48 class Teleop_EXPORTS_API Teleop : public Plugin
49 {
50 Q_OBJECT
51
53 Q_PROPERTY(
54 QString topic
55 READ Topic
56 WRITE SetTopic
57 NOTIFY TopicChanged
58 )
59
60
61 Q_PROPERTY(
62 double maxForwardVel
63 READ MaxForwardVel
64 WRITE SetMaxForwardVel
65 NOTIFY MaxForwardVelChanged
66 )
67
69 Q_PROPERTY(
70 double maxVerticalVel
71 READ MaxVerticalVel
72 WRITE SetMaxVerticalVel
73 NOTIFY MaxVerticalVelChanged
74 )
75
77 Q_PROPERTY(
78 double maxYawVel
79 READ MaxYawVel
80 WRITE SetMaxYawVel
81 NOTIFY MaxYawVelChanged
82 )
83
85 public: Teleop();
86
88 public: virtual ~Teleop();
89
90 // Documentation inherited.
91 public: virtual void LoadConfig(const tinyxml2::XMLElement *) override;
92
94 protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
95
100 public slots: void OnTeleopTwist(double _forwardVel, double _verticalVel,
101 double _angVel);
102
106 public: Q_INVOKABLE QString Topic() const;
107
111 public slots: void SetTopic(const QString &_topic);
112
114 signals: void TopicChanged();
115
118 public: Q_INVOKABLE double MaxForwardVel() const;
119
122 public slots: void SetMaxForwardVel(double _velocity);
123
125 signals: void MaxForwardVelChanged();
126
129 public: Q_INVOKABLE double MaxVerticalVel() const;
130
133 public slots: void SetMaxVerticalVel(double _velocity);
134
136 signals: void MaxVerticalVelChanged();
137
140 public: Q_INVOKABLE double MaxYawVel() const;
141
144 public slots: void SetMaxYawVel(double _velocity);
145
147 signals: void MaxYawVelChanged();
148
151 public slots: void OnKeySwitch(bool _checked);
152
154 public: void SetKeyScale();
155
158 private: std::unique_ptr<TeleopPrivate> dataPtr;
159
160 };
161} // namespace gz::gui::plugins
162
163#endif // GZ_GUI_PLUGINS_TELEOP_HH_