axes_display.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_AXES_DISPLAY_H 00031 #define RVIZ_AXES_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 00035 #include "rviz/properties/forwards.h" 00036 00037 namespace ogre_tools 00038 { 00039 class Axes; 00040 } 00041 00042 namespace rviz 00043 { 00044 00049 class AxesDisplay : public Display 00050 { 00051 public: 00052 AxesDisplay( const std::string& name, VisualizationManager* manager ); 00053 virtual ~AxesDisplay(); 00054 00060 void set( float length, float radius ); 00061 00062 void setLength( float length ); 00063 float getLength() { return length_; } 00064 void setRadius( float radius ); 00065 float getRadius() { return radius_; } 00066 00067 const std::string& getFrame() { return frame_; } 00068 void setFrame(const std::string& frame); 00069 00070 00071 // Overrides from Display 00072 virtual void targetFrameChanged() {} 00073 virtual void fixedFrameChanged() {} 00074 virtual void createProperties(); 00075 virtual void update(float dt, float ros_dt); 00076 00077 protected: 00081 void create(); 00082 00083 // overrides from Display 00084 virtual void onEnable(); 00085 virtual void onDisable(); 00086 00087 std::string frame_; 00088 float length_; 00089 float radius_; 00090 ogre_tools::Axes* axes_; 00091 00092 FloatPropertyWPtr length_property_; 00093 FloatPropertyWPtr radius_property_; 00094 TFFramePropertyWPtr frame_property_; 00095 }; 00096 00097 } // namespace rviz 00098 00099 #endif