marker_base.h
Go to the documentation of this 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 #ifndef RVIZ_MARKER_BASE_H 00031 #define RVIZ_MARKER_BASE_H 00032 00033 #include "rviz/selection/forwards.h" 00034 00035 #include <visualization_msgs/Marker.h> 00036 00037 #include <ros/time.h> 00038 00039 #include <boost/shared_ptr.hpp> 00040 00041 namespace Ogre 00042 { 00043 class SceneNode; 00044 class Vector3; 00045 class Quaternion; 00046 class Entity; 00047 } 00048 00049 namespace rviz 00050 { 00051 00052 class VisualizationManager; 00053 class MarkerDisplay; 00054 class InteractiveMarkerControl; 00055 00056 typedef std::pair<std::string, int32_t> MarkerID; 00057 typedef std::set<Ogre::MaterialPtr> S_MaterialPtr; 00058 00059 class MarkerBase 00060 { 00061 public: 00062 typedef visualization_msgs::Marker Marker; 00063 typedef visualization_msgs::Marker::ConstPtr MarkerConstPtr; 00064 00065 MarkerBase(MarkerDisplay* owner, VisualizationManager* manager, Ogre::SceneNode* parent_node); 00066 00067 virtual ~MarkerBase(); 00068 00069 void setMessage(const Marker& message); 00070 void setMessage(const MarkerConstPtr& message); 00071 bool expired(); 00072 00073 void updateFrameLocked(); 00074 00075 const MarkerConstPtr& getMessage() const { return message_; } 00076 00077 MarkerID getID() { return MarkerID(message_->ns, message_->id); } 00078 std::string getStringID() 00079 { 00080 std::stringstream ss; 00081 ss << message_->ns << "/" << message_->id; 00082 return ss.str(); 00083 } 00084 00085 void setControl( InteractiveMarkerControl* control ); 00086 00087 virtual void setPosition( const Ogre::Vector3& position ); 00088 virtual void setOrientation( const Ogre::Quaternion& orientation ); 00089 const Ogre::Vector3& getPosition(); 00090 const Ogre::Quaternion& getOrientation(); 00091 00092 virtual S_MaterialPtr getMaterials() { return S_MaterialPtr(); } 00093 00094 protected: 00095 bool transform(const MarkerConstPtr& message, Ogre::Vector3& pos, Ogre::Quaternion& orient, Ogre::Vector3& scale); 00096 virtual void onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message) = 0; 00097 00098 void extractMaterials( Ogre::Entity *entity, S_MaterialPtr &materials ); 00099 00100 MarkerDisplay* owner_; 00101 VisualizationManager* vis_manager_; 00102 00103 Ogre::SceneNode* scene_node_; 00104 00105 CollObjectHandle coll_; 00106 MarkerConstPtr message_; 00107 00108 ros::Time expiration_; 00109 }; 00110 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr; 00111 00112 } 00113 00114 #endif