link_updater.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
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#ifndef RVIZ_ROBOT_LINK_UPDATER_H
#define RVIZ_ROBOT_LINK_UPDATER_H
 
#include <string>
#include <rviz/properties/status_property.h>
 
#include <OgrePrerequisites.h>
 
namespace rviz
{
class LinkUpdater
{
public:
  virtual bool getLinkTransforms(const std::string& link_name,
                                 Ogre::Vector3& visual_position,
                                 Ogre::Quaternion& visual_orientation,
                                 Ogre::Vector3& collision_position,
                                 Ogre::Quaternion& collision_orientation) const = 0;
 
  virtual void setLinkStatus(StatusLevel /*level*/,
                             const std::string& /*link_name*/,
                             const std::string& /*text*/) const
  {
  }
};
 
} // namespace rviz
 
#endif // RVIZ_ROBOT_LINK_UPDATER_H