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 RVIZ_ROBOT_MODEL_DISPLAY_H 00031 #define RVIZ_ROBOT_MODEL_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 00035 #include <OgreVector3.h> 00036 00037 #include <map> 00038 00039 namespace Ogre 00040 { 00041 class Entity; 00042 class SceneNode; 00043 } 00044 00045 namespace rviz 00046 { 00047 class Axes; 00048 } 00049 00050 namespace rviz 00051 { 00052 00053 class FloatProperty; 00054 class Property; 00055 class Robot; 00056 class StringProperty; 00057 00062 class RobotModelDisplay: public Display 00063 { 00064 Q_OBJECT 00065 public: 00066 RobotModelDisplay(); 00067 virtual ~RobotModelDisplay(); 00068 00069 // Overrides from Display 00070 virtual void onInitialize(); 00071 virtual void update( float wall_dt, float ros_dt ); 00072 virtual void fixedFrameChanged(); 00073 virtual void reset(); 00074 00075 void clear(); 00076 00077 private Q_SLOTS: 00078 void updateVisualVisible(); 00079 void updateCollisionVisible(); 00080 void updateTfPrefix(); 00081 void updateAlpha(); 00082 void updateRobotDescription(); 00083 00084 protected: 00088 virtual void load(); 00089 00090 // overrides from Display 00091 virtual void onEnable(); 00092 virtual void onDisable(); 00093 00094 Robot* robot_; 00095 00096 bool has_new_transforms_; 00097 00098 float time_since_last_transform_; 00099 00100 std::string robot_description_; 00101 00102 Property* visual_enabled_property_; 00103 Property* collision_enabled_property_; 00104 FloatProperty* update_rate_property_; 00105 StringProperty* robot_description_property_; 00106 FloatProperty* alpha_property_; 00107 StringProperty* tf_prefix_property_; 00108 }; 00109 00110 } // namespace rviz 00111 00112 #endif 00113