.. _program_listing_file__tmp_ws_src_grid_map_grid_map_rviz_plugin_include_grid_map_rviz_plugin_GridMapVisual.hpp:

Program Listing for File GridMapVisual.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_rviz_plugin_include_grid_map_rviz_plugin_GridMapVisual.hpp>` (``/tmp/ws/src/grid_map/grid_map_rviz_plugin/include/grid_map_rviz_plugin/GridMapVisual.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * GridMapVisual.cpp
    *
    *  Created on: Aug 3, 2016
    *  Author: Philipp Krüsi, Péter Fankhauser
    *  Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_RVIZ_PLUGIN__GRIDMAPVISUAL_HPP_
   #define GRID_MAP_RVIZ_PLUGIN__GRIDMAPVISUAL_HPP_
   
   #ifndef Q_MOC_RUN
   
   #include <OgreMaterial.h>
   #include <OgreSharedPtr.h>
   
   #endif  // Q_MOC_RUN
   
   #include <grid_map_core/GridMap.hpp>
   #include <grid_map_msgs/msg/grid_map.hpp>
   #include <rviz_rendering/objects/billboard_line.hpp>
   
   #include <boost/shared_ptr.hpp>
   #include <string>
   #include <vector>
   
   namespace rviz_rendering
   {
   class BillboardLine;
   }
   
   namespace grid_map_rviz_plugin
   {
   
   // Visualizes a single grid_map_msgs::msg::GridMap message.
   class GridMapVisual
   {
   public:
     GridMapVisual(Ogre::SceneManager * sceneManager, Ogre::SceneNode * parentNode);
     virtual ~GridMapVisual();
   
     // Copy the grid map data to map_.
     void setMessage(grid_map_msgs::msg::GridMap::ConstSharedPtr msg);
     // Compute the visualization of map_.
     void computeVisualization(
       float alpha, bool showGridLines, bool flatTerrain, std::string heightLayer, bool flatColor,
       bool noColor, Ogre::ColourValue meshColor, bool mapLayerColor, std::string colorLayer,
       bool useRainbow, bool invertRainbow, Ogre::ColourValue minColor, Ogre::ColourValue maxColor,
       bool autocomputeIntensity, float minIntensity, float maxIntensity);
   
     // Set the coordinate frame pose.
     void setFramePosition(const Ogre::Vector3 & position);
     void setFrameOrientation(const Ogre::Quaternion & orientation);
   
     // Get grid map layer names.
     std::vector<std::string> getLayerNames();
   
   private:
     Ogre::SceneNode * frameNode_;
     Ogre::SceneManager * sceneManager_;
   
     // ManualObject for mesh display.
     Ogre::ManualObject * manualObject_;
     Ogre::MaterialPtr material_;
     std::string materialName_;
   
     // Lines for mesh.
     boost::shared_ptr<rviz_rendering::BillboardLine> meshLines_;
   
     // Grid map.
     grid_map::GridMap map_;
     bool haveMap_;
   
     // Helper methods.
     void normalizeIntensity(float & intensity, float minIntensity, float maxIntensity);
     Ogre::ColourValue getRainbowColor(float intensity);
     Ogre::ColourValue getInterpolatedColor(
       float intensity, Ogre::ColourValue minColor,
       Ogre::ColourValue maxColor);
   };
   
   }  // namespace grid_map_rviz_plugin
   #endif  // GRID_MAP_RVIZ_PLUGIN__GRIDMAPVISUAL_HPP_