robot_model_display.h

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/*
 * Copyright (c) 2008, 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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_ROBOT_MODEL_DISPLAY_H
#define RVIZ_ROBOT_MODEL_DISPLAY_H

#include "rviz/display.h"
#include "rviz/properties/forwards.h"

#include <OGRE/OgreVector3.h>

#include <map>

namespace Ogre
{
class Entity;
class SceneNode;
}

namespace rviz
{
class Axes;
}

namespace rviz
{

class Robot;

class RobotModelDisplay : public Display
{
public:
  RobotModelDisplay();
  virtual ~RobotModelDisplay();

  void onInitialize();

  void setRobotDescription( const std::string& description_param );

  virtual void update(float wall_dt, float ros_dt);

  void setVisualVisible( bool visible );

  void setCollisionVisible( bool visible );

  void setUpdateRate( float rate );

  const std::string& getRobotDescription() { return description_param_; }
  float getUpdateRate() { return update_rate_; }
  bool isVisualVisible();
  bool isCollisionVisible();

  float getAlpha() { return alpha_; }
  void setAlpha( float alpha );

  const std::string& getTFPrefix() { return tf_prefix_; }
  void setTFPrefix(const std::string& prefix);

  void clear();

  // Overrides from Display
  virtual void fixedFrameChanged();
  virtual void createProperties();
  virtual void reset();

  virtual void hideVisible();

  virtual void restoreVisible();

protected:

  void load();

  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  std::string description_param_;             

  Robot* robot_;                              

  bool has_new_transforms_;                   

  float time_since_last_transform_;
  float update_rate_;
  float alpha_;
  std::string tf_prefix_;

  BoolPropertyWPtr visual_enabled_property_;
  BoolPropertyWPtr collision_enabled_property_;
  FloatPropertyWPtr update_rate_property_;
  StringPropertyWPtr robot_description_property_;
  FloatPropertyWPtr alpha_property_;
  StringPropertyWPtr tf_prefix_property_;

  std::string robot_description_;

  bool hidden_;
};

} // namespace rviz

 #endif