00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef OGRE_TOOLS_AXES_H 00031 #define OGRE_TOOLS_AXES_H 00032 00033 #include "object.h" 00034 00035 #include <stddef.h> 00036 #include <stdint.h> 00037 00038 #include <vector> 00039 00040 namespace Ogre 00041 { 00042 class SceneManager; 00043 class SceneNode; 00044 class Vector3; 00045 class Quaternion; 00046 class Any; 00047 class ColourValue; 00048 } 00049 00050 namespace rviz 00051 { 00052 class Shape; 00053 00058 class Axes : public Object 00059 { 00060 public: 00068 Axes( Ogre::SceneManager* manager, Ogre::SceneNode* parent_node = NULL, float length = 1.0f, float radius = 0.1f ); 00069 virtual ~Axes(); 00070 00077 void set( float length, float radius ); 00078 00079 virtual void setOrientation( const Ogre::Quaternion& orientation ); 00080 virtual void setPosition( const Ogre::Vector3& position ); 00081 virtual void setScale( const Ogre::Vector3& scale ); 00082 virtual void setColor( float r, float g, float b, float a ); 00083 virtual const Ogre::Vector3& getPosition(); 00084 virtual const Ogre::Quaternion& getOrientation(); 00085 00090 Ogre::SceneNode* getSceneNode() { return scene_node_; } 00091 00095 void setUserData( const Ogre::Any& data ); 00096 00097 Shape* getXShape() { return x_axis_; } 00098 Shape* getYShape() { return y_axis_; } 00099 Shape* getZShape() { return z_axis_; } 00100 00101 void setXColor(const Ogre::ColourValue& col); 00102 void setYColor(const Ogre::ColourValue& col); 00103 void setZColor(const Ogre::ColourValue& col); 00104 void setToDefaultColors(); 00105 static const Ogre::ColourValue& getDefaultXColor(); 00106 static const Ogre::ColourValue& getDefaultYColor(); 00107 static const Ogre::ColourValue& getDefaultZColor(); 00108 00109 private: 00110 00111 // prohibit copying 00112 Axes( const Axes &other ): Object(0) {} 00113 Axes& operator=( const Axes &other ) { return *this; } 00114 00115 Ogre::SceneNode* scene_node_; 00116 00117 Shape* x_axis_; 00118 Shape* y_axis_; 00119 Shape* z_axis_; 00120 00121 static const Ogre::ColourValue default_x_color_; 00122 static const Ogre::ColourValue default_y_color_; 00123 static const Ogre::ColourValue default_z_color_; 00124 }; 00125 00126 } // namespace rviz 00127 00128 #endif 00129