axes_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:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       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
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#ifndef RVIZ_AXES_DISPLAY_H
#define RVIZ_AXES_DISPLAY_H

#include "rviz/display.h"

#include "rviz/properties/forwards.h"

namespace ogre_tools
{
class Axes;
}

namespace rviz
{

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

  void onInitialize();

  void set( float length, float radius );

  void setLength( float length );
  float getLength() { return length_; }
  void setRadius( float radius );
  float getRadius() { return radius_; }

  const std::string& getFrame() { return frame_; }
  void setFrame(const std::string& frame);


  // Overrides from Display
  virtual void targetFrameChanged() {}
  virtual void fixedFrameChanged() {}
  virtual void createProperties();
  virtual void update(float dt, float ros_dt);

protected:
  void create();

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

  std::string frame_;
  float length_;                
  float radius_;                
  ogre_tools::Axes* axes_;      

  FloatPropertyWPtr length_property_;
  FloatPropertyWPtr radius_property_;
  TFFramePropertyWPtr frame_property_;
};

} // namespace rviz

 #endif