marker_base.cpp
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00001 /*
00002  * Copyright (c) 2009, 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 #include "marker_base.h"
00031 #include "rviz/default_plugin/marker_display.h"
00032 #include "rviz/display_context.h"
00033 #include "rviz/selection/selection_manager.h"
00034 #include "marker_selection_handler.h"
00035 #include "rviz/frame_manager.h"
00036 
00037 #include <OgreSceneNode.h>
00038 #include <OgreSceneManager.h>
00039 #include <OgreEntity.h>
00040 #include <OgreSubEntity.h>
00041 #include <OgreSharedPtr.h>
00042 
00043 #include <tf/tf.h>
00044 #include <tf/transform_listener.h>
00045 
00046 namespace rviz
00047 {
00048 
00049 MarkerBase::MarkerBase( MarkerDisplay* owner, DisplayContext* context, Ogre::SceneNode* parent_node )
00050   : owner_( owner )
00051   , context_( context )
00052   , scene_node_( parent_node->createChildSceneNode() )
00053 {}
00054 
00055 MarkerBase::~MarkerBase()
00056 {
00057   context_->getSceneManager()->destroySceneNode(scene_node_);
00058 }
00059 
00060 void MarkerBase::setMessage(const Marker& message)
00061 {
00062   // copy and save to shared pointer
00063   MarkerConstPtr message_ptr( new Marker(message) );
00064   setMessage( message_ptr );
00065 }
00066 
00067 void MarkerBase::setMessage(const MarkerConstPtr& message)
00068 {
00069   MarkerConstPtr old = message_;
00070   message_ = message;
00071 
00072   expiration_ = ros::Time::now() + message->lifetime;
00073 
00074   onNewMessage(old, message);
00075 }
00076 
00077 void MarkerBase::updateFrameLocked()
00078 {
00079   ROS_ASSERT(message_ && message_->frame_locked);
00080   onNewMessage(message_, message_);
00081 }
00082 
00083 bool MarkerBase::expired()
00084 {
00085   return ros::Time::now() >= expiration_;
00086 }
00087 
00088 bool MarkerBase::transform(const MarkerConstPtr& message, Ogre::Vector3& pos, Ogre::Quaternion& orient, Ogre::Vector3& scale)
00089 {
00090   ros::Time stamp = message->header.stamp;
00091   if (message->frame_locked)
00092   {
00093     stamp = ros::Time();
00094   }
00095 
00096   if (!context_->getFrameManager()->transform(message->header.frame_id, stamp, message->pose, pos, orient))
00097   {
00098     std::string error;
00099     context_->getFrameManager()->transformHasProblems(message->header.frame_id, message->header.stamp, error);
00100     if ( owner_ )
00101     {
00102       owner_->setMarkerStatus(getID(), StatusProperty::Error, error);
00103     }
00104     return false;
00105   }
00106 
00107   scale = Ogre::Vector3(message->scale.x, message->scale.y, message->scale.z);
00108 
00109   return true;
00110 }
00111 
00112 void MarkerBase::setInteractiveObject( InteractiveObjectWPtr control )
00113 {
00114   if( handler_ )
00115   {
00116     handler_->setInteractiveObject( control );
00117   }
00118 }
00119 
00120 void MarkerBase::setPosition( const Ogre::Vector3& position )
00121 {
00122   scene_node_->setPosition( position );
00123 }
00124 
00125 void MarkerBase::setOrientation( const Ogre::Quaternion& orientation )
00126 {
00127   scene_node_->setOrientation( orientation );
00128 }
00129 
00130 const Ogre::Vector3& MarkerBase::getPosition()
00131 {
00132   return scene_node_->getPosition();
00133 }
00134 
00135 const Ogre::Quaternion& MarkerBase::getOrientation()
00136 {
00137   return scene_node_->getOrientation();
00138 }
00139 
00140 void MarkerBase::extractMaterials( Ogre::Entity *entity, S_MaterialPtr &materials )
00141 {
00142   uint32_t num_sub_entities = entity->getNumSubEntities();
00143   for (uint32_t i = 0; i < num_sub_entities; ++i)
00144   {
00145     Ogre::SubEntity* sub = entity->getSubEntity(i);
00146     Ogre::MaterialPtr material = sub->getMaterial();
00147     materials.insert( material );
00148   }
00149 }
00150 
00151 
00152 
00153 } // namespace rviz


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27