torus_array_display.h

Go to the documentation of this file.

// -*- mode: c++; -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
 *  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/o2r other materials provided
 *     with the distribution.
 *   * Neither the name of the JSK Lab 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 CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

#ifndef JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_

#include <jsk_recognition_msgs/TorusArray.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/message_filter_display.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/mesh_shape.h>
#include <rviz/ogre_helpers/arrow.h>
#include <OGRE/OgreSceneNode.h>

namespace jsk_rviz_plugins
{
  struct Triangle
  {
    unsigned v1, v2, v3; // index for the 3 vertices that make up a triangle
  };

  class TorusArrayDisplay: public rviz::MessageFilterDisplay<jsk_recognition_msgs::TorusArray>
  {
    Q_OBJECT
  public:
    typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
    typedef boost::shared_ptr<rviz::MeshShape> ShapePtr;
    TorusArrayDisplay();
    virtual ~TorusArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    void allocateShapes(int num);
    QColor getColor(size_t index);
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::IntProperty* uv_property_;
    rviz::BoolProperty* auto_color_property_;
    rviz::BoolProperty* show_normal_property_;
    rviz::FloatProperty* normal_length_property_;
    QColor color_;
    double alpha_;
    bool auto_color_;
    bool show_normal_;
    double normal_length_;
    int uv_dimension_;
    std::vector<Ogre::SceneNode*> arrow_nodes_;
    std::vector<ArrowPtr> arrow_objects_;
    std::vector<ShapePtr> shapes_;
  private Q_SLOTS:
    void updateColor();
    void updateAlpha();
    void updateUVdimension();
    void updateAutoColor();
    void updateShowNormal();
    void updateNormalLength();

    void calcurateTriangleMesh(
                               int large_dimension, int small_dimension,
                               float large_radius, float small_radius,
                               Ogre::Vector3 pos, Ogre::Quaternion q,
                               std::vector<Triangle> &triangles,
                               std::vector<Ogre::Vector3> &vertices,
                               std::vector<Ogre::Vector3> &normals
                               );
  private:
    void processMessage(const jsk_recognition_msgs::TorusArray::ConstPtr& msg);
  };

}
#endif