Program Listing for File link_updater.hpp
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/*
* Copyright (c) 2009, 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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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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*/
#ifndef RVIZ_DEFAULT_PLUGINS__ROBOT__LINK_UPDATER_HPP_
#define RVIZ_DEFAULT_PLUGINS__ROBOT__LINK_UPDATER_HPP_
#include <string>
#include <OgreVector3.h>
#include "rviz_common/properties/status_property.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace Ogre
{
class Quaternion;
}
namespace rviz_default_plugins
{
namespace robot
{
using rviz_common::properties::StatusLevel;
class RVIZ_DEFAULT_PLUGINS_PUBLIC LinkUpdater
{
public:
virtual ~LinkUpdater() {}
virtual bool getLinkTransforms(
const std::string & link_name, Ogre::Vector3 & visual_position,
Ogre::Quaternion & visual_orientation,
Ogre::Vector3 & collision_position, Ogre::Quaternion & collision_orientation) const = 0;
virtual void setLinkStatus(
StatusLevel level, const std::string & link_name,
const std::string & text) const
{
(void) level;
(void) link_name;
(void) text;
}
};
} // namespace robot
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__ROBOT__LINK_UPDATER_HPP_