PoseGizmo.h

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#pragma once
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/components/ArViz/Client/Elements.h>
#include <RobotAPI/components/ArViz/Client/Layer.h>
 
namespace armarx::viz
{
 
    class PoseGizmo
    {
    public:
        PoseGizmo();
 
        void setLayer(const viz::Layer& layer);
 
        void update();
        void updateDuringTransform();
 
        bool handleInteraction(const viz::InteractionFeedback& interaction,
                               viz::StagedCommit* stage);
 
        Eigen::Matrix4f getCurrent() const;
 
 
    public:
        Eigen::Matrix4f initial = Eigen::Matrix4f::Identity();
        Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
 
        viz::Layer layer;
 
        viz::Box box{"box"};
        viz::Pose pose{"pose"};
    };
 
} // namespace armarx::viz