shape_marker.cpp
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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 "shape_marker.h"
00031 #include "marker_selection_handler.h"
00032 #include "rviz/default_plugin/marker_display.h"
00033 
00034 #include "rviz/visualization_manager.h"
00035 #include "rviz/selection/selection_manager.h"
00036 
00037 #include <rviz/ogre_helpers/shape.h>
00038 
00039 #include <OGRE/OgreSceneNode.h>
00040 #include <OGRE/OgreMatrix3.h>
00041 
00042 namespace rviz
00043 {
00044 
00045 ShapeMarker::ShapeMarker( MarkerDisplay* owner, VisualizationManager* manager,
00046     Ogre::SceneNode* parent_node ) :
00047   MarkerBase(owner, manager, parent_node), shape_(0)
00048 {
00049 }
00050 
00051 ShapeMarker::~ShapeMarker()
00052 {
00053   delete shape_;
00054 }
00055 
00056 void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
00057     const MarkerConstPtr& new_message )
00058 {
00059   if (!shape_ || old_message->type != new_message->type)
00060   {
00061     delete shape_;
00062     shape_ = 0;
00063 
00064     switch (new_message->type)
00065     {
00066       case visualization_msgs::Marker::CUBE:
00067       {
00068         shape_ = new Shape(Shape::Cube,
00069             vis_manager_->getSceneManager(), scene_node_);
00070       }
00071         break;
00072 
00073       case visualization_msgs::Marker::CYLINDER:
00074       {
00075         shape_ = new Shape(Shape::Cylinder,
00076             vis_manager_->getSceneManager(), scene_node_);
00077       }
00078         break;
00079 
00080       case visualization_msgs::Marker::SPHERE:
00081       {
00082         shape_ = new Shape(Shape::Sphere,
00083             vis_manager_->getSceneManager(), scene_node_);
00084       }
00085         break;
00086 
00087       default:
00088         ROS_BREAK();
00089         break;
00090     }
00091 
00092     vis_manager_->getSelectionManager()->removeObject(coll_);
00093     coll_ = vis_manager_->getSelectionManager()->createCollisionForObject(
00094         shape_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(
00095             new_message->ns, new_message->id))), coll_);
00096   }
00097 
00098   Ogre::Vector3 pos, scale, scale_correct;
00099   Ogre::Quaternion orient;
00100   transform(new_message, pos, orient, scale);
00101 
00102   if (owner_ && (new_message->scale.x * new_message->scale.y
00103       * new_message->scale.z == 0.0f))
00104   {
00105     owner_->setMarkerStatus(getID(), status_levels::Warn,
00106         "Scale of 0 in one of x/y/z");
00107   }
00108 
00109   setPosition(pos);
00110   setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
00111 
00112   scale_correct = Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) * scale;
00113 
00114   shape_->setScale(scale_correct);
00115 
00116   shape_->setColor(new_message->color.r, new_message->color.g,
00117       new_message->color.b, new_message->color.a);
00118 }
00119 
00120 S_MaterialPtr ShapeMarker::getMaterials()
00121 {
00122   S_MaterialPtr materials;
00123   extractMaterials(shape_->getEntity(), materials);
00124   return materials;
00125 }
00126 
00127 }


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:33