00001 /* 00002 * Copyright (c) 2008, 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_GRID_DISPLAY_H 00031 #define RVIZ_GRID_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 #include "rviz/helpers/color.h" 00035 #include "rviz/properties/forwards.h" 00036 #include <OGRE/OgreVector3.h> 00037 00038 namespace rviz 00039 { 00040 class Grid; 00041 } 00042 00043 namespace rviz 00044 { 00045 00052 class GridDisplay : public Display 00053 { 00054 public: 00055 enum Plane 00056 { 00057 XY, 00058 XZ, 00059 YZ, 00060 }; 00061 00062 GridDisplay(); 00063 virtual ~GridDisplay(); 00064 00065 virtual void onInitialize(); 00066 00071 void setCellCount( uint32_t cell_count ); 00076 void setCellSize( float cell_size ); 00077 void setHeight(uint32_t height); 00081 void setColor( const Color& color ); 00082 const Color& getColor() { return color_; } 00083 00084 void setStyle(int style); 00085 void setLineWidth(float width); 00086 00087 void setAlpha(float a); 00088 float getAlpha() { return alpha_; } 00089 00090 void setOffset(const Ogre::Vector3& offset); 00091 Ogre::Vector3 getOffset() { return offset_; } 00092 00093 void setPlane( int plane ); 00094 Plane getPlane() { return plane_; } 00095 00096 const std::string& getFrame() { return frame_; } 00097 void setFrame(const std::string& frame); 00098 00099 // Overrides from Display 00100 virtual void createProperties(); 00101 virtual void update(float dt, float ros_dt); 00102 00103 protected: 00104 // overrides from Display 00105 virtual void onEnable(); 00106 virtual void onDisable(); 00107 00108 std::string frame_; 00109 Color color_; 00110 float alpha_; 00111 Grid* grid_; 00112 00113 Ogre::Vector3 offset_; 00114 Plane plane_; 00115 00116 Ogre::SceneNode* scene_node_; 00117 00118 TFFramePropertyWPtr frame_property_; 00119 IntPropertyWPtr cell_count_property_; 00120 IntPropertyWPtr height_property_; 00121 FloatPropertyWPtr cell_size_property_; 00122 FloatPropertyWPtr line_width_property_; 00123 EnumPropertyWPtr style_property_; 00124 ColorPropertyWPtr color_property_; 00125 FloatPropertyWPtr alpha_property_; 00126 EnumPropertyWPtr plane_property_; 00127 Vector3PropertyWPtr offset_property_; 00128 }; 00129 00130 } // namespace rviz 00131 00132 #endif