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00002 #ifndef NORMAL_VISUAL_H
00003 #define NORMAL_VISUAL_H
00004
00005 #include <OGRE/OgreVector3.h>
00006 #include <OGRE/OgreSceneNode.h>
00007 #include <OGRE/OgreSceneManager.h>
00008
00009 #include <rviz/ogre_helpers/arrow.h>
00010 #include <geometry_msgs/Vector3.h>
00011 #include <sensor_msgs/PointCloud2.h>
00012
00013 namespace jsk_rviz_plugin
00014 {
00015
00016 class NormalVisual
00017 {
00018 public:
00019 NormalVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
00020
00021 virtual ~NormalVisual();
00022
00023 void setValues( float x, float y, float z, float normal_x, float normal_y, float normal_z);
00024 void setFramePosition( const Ogre::Vector3& position );
00025 void setFrameOrientation( const Ogre::Quaternion& orientation );
00026 void setColor( float r, float g, float b, float a );
00027 void setScale( float scale );
00028
00029 private:
00030 boost::shared_ptr<rviz::Arrow> normal_arrow_;
00031 Ogre::SceneNode* frame_node_;
00032 Ogre::SceneManager* scene_manager_;
00033 };
00034 }
00035 #endif