mesh_object.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, 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 MESH_OBJECT_CPP_ 00031 #define MESH_OBJECT_CPP_ 00032 00033 #include <arm_navigation_msgs/Shape.h> 00034 #include <geometry_msgs/Pose.h> 00035 #include <geometry_msgs/Point32.h> 00036 00037 #include <OGRE/OgrePrerequisites.h> 00038 #include <OGRE/OgreEntity.h> 00039 00040 #include <string> 00041 00042 namespace rviz_interaction_tools 00043 { 00044 00045 // holds a mesh constructed from a Shape message or a list of points 00046 class MeshObject 00047 { 00048 00049 public: 00050 00051 struct Point { 00052 float x,y,z; 00053 float r,g,b,a; 00054 }; 00055 00056 MeshObject( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root ); 00057 00058 ~MeshObject(); 00059 00060 void setPose( const geometry_msgs::Pose& pose ); 00061 00062 void loadMesh( std::string name, const arm_navigation_msgs::Shape& mesh ); 00063 00064 //load mesh from a list of points, assuming that 3 consecutive points form a triangle 00065 void loadPoints( std::string name, const std::vector< geometry_msgs::Point32 > &points ); 00066 00067 void loadMesh( std::string name, const std::vector< Point > &vertices, 00068 const std::vector<unsigned> triangles = std::vector<unsigned>() ); 00069 00070 void setVisible( bool visible ); 00071 00072 void setMaterialName( std::string name ); 00073 00074 Ogre::Entity* getEntity() { return entity_; } 00075 00076 void clear(); 00077 00078 private: 00079 00080 MeshObject( const MeshObject& ); 00081 MeshObject& operator=( const MeshObject& ); 00082 00083 Ogre::SceneNode *scene_node_; 00084 Ogre::MeshPtr mesh_ptr_; 00085 Ogre::Entity* entity_; 00086 00087 Ogre::SceneManager* scene_manager_; 00088 Ogre::SceneNode* scene_root_; 00089 }; 00090 00091 } 00092 00093 #endif /* MESH_OBJECT_CPP_ */ 00094