rviz: line_list_marker.cpp Source File

00001 /*
00002  * Copyright (c) 2009, 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 #include "line_list_marker.h"
00031 #include "rviz/default_plugin/marker_display.h"
00032 #include "rviz/common.h"
00033 #include "rviz/visualization_manager.h"
00034 
00035 #include <ogre_tools/billboard_line.h>
00036 
00037 #include <OGRE/OgreVector3.h>
00038 #include <OGRE/OgreQuaternion.h>
00039 
00040 namespace rviz
00041 {
00042 
00043 LineListMarker::LineListMarker(MarkerDisplay* owner, VisualizationManager* manager, Ogre::SceneNode* parent_node)
00044 : MarkerBase(owner, manager, parent_node)
00045 , lines_(0)
00046 {
00047 }
00048 
00049 LineListMarker::~LineListMarker()
00050 {
00051   delete lines_;
00052 }
00053 
00054 void LineListMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
00055 {
00056   ROS_ASSERT(new_message->type == visualization_msgs::Marker::LINE_LIST);
00057 
00058   if (!lines_)
00059   {
00060     lines_ = new ogre_tools::BillboardLine(vis_manager_->getSceneManager(), parent_node_);
00061   }
00062 
00063   Ogre::Vector3 pos, scale;
00064   Ogre::Quaternion orient;
00065   transform(new_message, pos, orient, scale);
00066 
00067   lines_->setPosition(pos);
00068   lines_->setOrientation(orient);
00069   lines_->setScale(scale);
00070   lines_->setColor(new_message->color.r, new_message->color.g, new_message->color.b, new_message->color.a);
00071 
00072   lines_->clear();
00073 
00074   if (new_message->points.empty())
00075   {
00076     return;
00077   }
00078 
00079   bool has_per_point_color = new_message->colors.size() == new_message->points.size();
00080 
00081   if (new_message->points.size() % 2 == 0)
00082   {
00083     lines_->setLineWidth( new_message->scale.x );
00084     lines_->setMaxPointsPerLine(2);
00085     lines_->setNumLines(new_message->points.size() / 2);
00086 
00087     size_t i = 0;
00088     std::vector<geometry_msgs::Point>::const_iterator it = new_message->points.begin();
00089     std::vector<geometry_msgs::Point>::const_iterator end = new_message->points.end();
00090     for ( ; it != end; )
00091     {
00092       if (it != new_message->points.begin())
00093       {
00094         lines_->newLine();
00095       }
00096 
00097       for (uint32_t j = 0; j < 2; ++j, ++it, ++i)
00098       {
00099         const geometry_msgs::Point& p = *it;
00100 
00101         Ogre::ColourValue c;
00102         if (has_per_point_color)
00103         {
00104           const std_msgs::ColorRGBA& color = new_message->colors[i];
00105           c.r = color.r;
00106           c.g = color.g;
00107           c.b = color.b;
00108           c.a = new_message->color.a;
00109         }
00110         else
00111         {
00112           c.r = new_message->color.r;
00113           c.g = new_message->color.g;
00114           c.b = new_message->color.b;
00115           c.a = new_message->color.a;
00116         }
00117 
00118         Ogre::Vector3 v( p.x, p.y, p.z );
00119         robotToOgre( v );
00120         lines_->addPoint( v, c );
00121       }
00122     }
00123   }
00124   else
00125   {
00126     std::stringstream ss;
00127     ss << "Line list marker [" << getStringID() << "] has an odd number of points.";
00128     owner_->setMarkerStatus(getID(), status_levels::Error, ss.str());
00129     ROS_DEBUG("%s", ss.str().c_str());
00130   }
00131 }
00132 
00133 }