cone.h

Go to the documentation of this file.

/*
 * Copyright (c) 2010, 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:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVE_RENDER_CLIENT_CONE_H
#define RVE_RENDER_CLIENT_CONE_H

#include "forwards.h"
#include "single_scene_object.h"

#include <rve_common/uuid.h>

#include <rve_msgs/Vector3.h>
#include <rve_msgs/Quaternion.h>

namespace rve_interfaces
{
class ConeProxy;
}

namespace rve_render_client
{

class Material;
class Color;

class Cone : public SingleSceneObject
{
public:

  void setPosition(const rve_msgs::Vector3& pos);
  void setOrientation(const rve_msgs::Quaternion& orientation);

  const rve_msgs::Vector3& getPosition() const { return position_; }
  const rve_msgs::Quaternion& getOrientation() const { return orientation_; }

  float getRadius() { return radius_; }
  void setRadius(float radius);

  float getHeight() { return height_; }
  void setHeight(float height);

  void setMaterial(const MaterialPtr& mat);
  void setMaterial(const rve_common::UUID& id);

private:
  Cone();
  ~Cone();

  virtual void doCreate(ContextInfo& info);
  virtual void doDestroy(ContextInfo& info);
  virtual void getContextDependencies(V_UUID& deps);

  rve_interfaces::ConeProxy* getProxy(const ContextInfo& info);

  rve_msgs::Vector3 position_;
  rve_msgs::Quaternion orientation_;
  float radius_;
  float height_;

  uint32_t proxy_index_;

  MaterialPtr material_;

  friend ConePtr createCone(Scene*);
  friend void destroyCone(Cone*);
};

ConePtr createCone(Scene* scene);

} // namespace rve_render_client

#endif // RVE_RENDER_CLIENT_CONE_H