Visu.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <SimoxUtility/color/Color.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
 
#include <armarx/navigation/graph/Visu.h>
 
#include "GuiGraph.h"
 
namespace armarx::navigation::qt_plugins::location_graph_editor::visu
{
    extern const simox::Color defaultColorHighlighted;
}
 
namespace armarx::navigation::qt_plugins::location_graph_editor
{
 
    struct VertexVisu
    {
        struct Pose : public navigation::graph::VertexVisu::Pose
        {
            float scaleFactorHighlighted = 1.5;
 
            viz::Pose
            draw(const std::string& name, const core::Pose& pose, const VertexData& attribs) const;
        };
 
        std::optional<Pose> pose = Pose{};
 
        struct ForwardArrow : public navigation::graph::VertexVisu::ForwardArrow
        {
            simox::Color colorHighlighted = visu::defaultColorHighlighted;
 
            viz::Arrow
            draw(const std::string& name, const core::Pose& pose, const VertexData& attribs) const;
        };
 
        std::optional<ForwardArrow> forwardArrow = ForwardArrow{};
 
 
        void draw(viz::Layer& layer,
                  GuiGraph::ConstVertex vertex,
                  graph::visu::ObjectParserInfo info) const;
        void draw(viz::Layer& layer,
                  const std::string& name,
                  const core::Pose& pose,
                  const VertexData& attribs) const;
    };
 
    struct EdgeVisu
    {
        struct Arrow : public navigation::graph::EdgeVisu::Arrow
        {
            simox::Color colorHighlighted = visu::defaultColorHighlighted;
 
            viz::Arrow draw(const EdgeData& edge,
                            const std::string& sourceName,
                            const std::string& targetName,
                            const core::Pose& source,
                            const core::Pose& target) const;
        };
 
        std::optional<Arrow> arrow = Arrow{};
 
        void
        draw(viz::Layer& layer, GuiGraph::ConstEdge edge, graph::visu::ObjectParserInfo info) const;
    };
 
    struct GraphVisu
    {
        std::optional<VertexVisu> vertex = VertexVisu{std::nullopt};
        std::optional<EdgeVisu> edge = EdgeVisu{std::nullopt};
 
 
        void
        draw(viz::Layer& layer, const GuiGraph& graph, graph::visu::ObjectParserInfo info) const;
    };
 
    template <class VisuT, class RangeT>
    void
    applyVisu(viz::Layer& layer,
              const std::optional<VisuT>& visu,
              RangeT&& range,
              graph::visu::ObjectParserInfo info)
    {
        if (visu.has_value())
        {
            for (auto element : range)
            {
                visu->draw(layer, element, info);
            }
        }
    }
 
} // namespace armarx::navigation::qt_plugins::location_graph_editor