Program Listing for File axes.hpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * Copyright (c) 2017, Open Source Robotics Foundation, 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"
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#ifndef RVIZ_RENDERING__OBJECTS__AXES_HPP_
#define RVIZ_RENDERING__OBJECTS__AXES_HPP_

#include <cstddef>
#include <cstdint>
#include <memory>
#include <vector>

#include <OgreVector3.h>

#include "object.hpp"
#include "shape.hpp"
#include "rviz_rendering/visibility_control.hpp"

namespace Ogre
{
class SceneManager;
class SceneNode;
class Quaternion;
class Any;
class ColourValue;
}

namespace rviz_rendering
{
class Axes : public Object
{
public:
  RVIZ_RENDERING_PUBLIC
  explicit Axes(
    Ogre::SceneManager * manager,
    Ogre::SceneNode * parent_node = nullptr,
    float length = 1.0f,
    float radius = 0.1f);
  ~Axes() override;

  RVIZ_RENDERING_PUBLIC
  void set(float length, float radius);

  RVIZ_RENDERING_PUBLIC
  void setOrientation(const Ogre::Quaternion & orientation) override;

  RVIZ_RENDERING_PUBLIC
  void setPosition(const Ogre::Vector3 & position) override;

  RVIZ_RENDERING_PUBLIC
  void setScale(const Ogre::Vector3 & scale) override;

  RVIZ_RENDERING_PUBLIC
  void setColor(float r, float g, float b, float a) override;

  RVIZ_RENDERING_PUBLIC
  const Ogre::Vector3 & getPosition() override;

  RVIZ_RENDERING_PUBLIC
  const Ogre::Quaternion & getOrientation() override;

  Ogre::SceneNode * getSceneNode() {return scene_node_;}

  RVIZ_RENDERING_PUBLIC
  void setUserData(const Ogre::Any & data) override;

  RVIZ_RENDERING_PUBLIC
  Shape & getXShape() {return *x_axis_;}

  RVIZ_RENDERING_PUBLIC
  Shape & getYShape() {return *y_axis_;}

  RVIZ_RENDERING_PUBLIC
  Shape & getZShape() {return *z_axis_;}

  RVIZ_RENDERING_PUBLIC
  void setXColor(const Ogre::ColourValue & col);

  RVIZ_RENDERING_PUBLIC
  void setYColor(const Ogre::ColourValue & col);

  RVIZ_RENDERING_PUBLIC
  void setZColor(const Ogre::ColourValue & col);

  RVIZ_RENDERING_PUBLIC
  void setToDefaultColors();

  RVIZ_RENDERING_PUBLIC
  static const Ogre::ColourValue & getDefaultXColor();

  RVIZ_RENDERING_PUBLIC
  static const Ogre::ColourValue & getDefaultYColor();

  RVIZ_RENDERING_PUBLIC
  static const Ogre::ColourValue & getDefaultZColor();

private:
  // prohibit copying
  Axes(const Axes & other)
  : Object(nullptr) {(void) other;}
  Axes & operator=(const Axes & other) {(void) other; return *this;}

  Ogre::SceneNode * scene_node_;

  std::unique_ptr<Shape> x_axis_;
  std::unique_ptr<Shape> y_axis_;
  std::unique_ptr<Shape> z_axis_;

  static const Ogre::ColourValue default_x_color_;
  static const Ogre::ColourValue default_y_color_;
  static const Ogre::ColourValue default_z_color_;
};

}  // namespace rviz_rendering

#endif  // RVIZ_RENDERING__OBJECTS__AXES_HPP_