00001 #include <OgreSceneNode.h>
00002 #include <OgreSceneManager.h>
00003
00004 #include <rviz/visualization_manager.h>
00005 #include <rviz/frame_manager.h>
00006 #include <rviz/properties/color_property.h>
00007 #include <rviz/properties/float_property.h>
00008 #include <rviz/properties/int_property.h>
00009 #include <rviz/properties/parse_color.h>
00010 #include <rviz/validate_floats.h>
00011
00012 #include <boost/foreach.hpp>
00013
00014 #include "wrench_visual.h"
00015
00016 #include "wrench_display.h"
00017
00018 namespace rviz
00019 {
00020
00021 WrenchStampedDisplay::WrenchStampedDisplay()
00022 {
00023 force_color_property_ =
00024 new rviz::ColorProperty( "Force Color", QColor( 204, 51, 51 ),
00025 "Color to draw the force arrows.",
00026 this, SLOT( updateColorAndAlpha() ));
00027
00028 torque_color_property_ =
00029 new rviz::ColorProperty( "Torque Color", QColor( 204, 204, 51),
00030 "Color to draw the torque arrows.",
00031 this, SLOT( updateColorAndAlpha() ));
00032
00033 alpha_property_ =
00034 new rviz::FloatProperty( "Alpha", 1.0,
00035 "0 is fully transparent, 1.0 is fully opaque.",
00036 this, SLOT( updateColorAndAlpha() ));
00037
00038 force_scale_property_ =
00039 new rviz::FloatProperty( "Force Arrow Scale", 2.0,
00040 "force arrow scale",
00041 this, SLOT( updateColorAndAlpha() ));
00042
00043 torque_scale_property_ =
00044 new rviz::FloatProperty( "Torque Arrow Scale", 2.0,
00045 "torque arrow scale",
00046 this, SLOT( updateColorAndAlpha() ));
00047
00048 width_property_ =
00049 new rviz::FloatProperty( "Arrow Width", 0.5,
00050 "arrow width",
00051 this, SLOT( updateColorAndAlpha() ));
00052
00053
00054 history_length_property_ =
00055 new rviz::IntProperty( "History Length", 1,
00056 "Number of prior measurements to display.",
00057 this, SLOT( updateHistoryLength() ));
00058
00059 history_length_property_->setMin( 1 );
00060 history_length_property_->setMax( 100000 );
00061 }
00062
00063 void WrenchStampedDisplay::onInitialize()
00064 {
00065 MFDClass::onInitialize();
00066 updateHistoryLength( );
00067 }
00068
00069 WrenchStampedDisplay::~WrenchStampedDisplay()
00070 {
00071 }
00072
00073
00074 void WrenchStampedDisplay::reset()
00075 {
00076 MFDClass::reset();
00077 visuals_.clear();
00078 }
00079
00080 void WrenchStampedDisplay::updateColorAndAlpha()
00081 {
00082 float alpha = alpha_property_->getFloat();
00083 float force_scale = force_scale_property_->getFloat();
00084 float torque_scale = torque_scale_property_->getFloat();
00085 float width = width_property_->getFloat();
00086 Ogre::ColourValue force_color = force_color_property_->getOgreColor();
00087 Ogre::ColourValue torque_color = torque_color_property_->getOgreColor();
00088
00089 for( size_t i = 0; i < visuals_.size(); i++ )
00090 {
00091 visuals_[i]->setForceColor( force_color.r, force_color.g, force_color.b, alpha );
00092 visuals_[i]->setTorqueColor( torque_color.r, torque_color.g, torque_color.b, alpha );
00093 visuals_[i]->setForceScale( force_scale );
00094 visuals_[i]->setTorqueScale( torque_scale );
00095 visuals_[i]->setWidth( width );
00096 }
00097 }
00098
00099
00100 void WrenchStampedDisplay::updateHistoryLength()
00101 {
00102 visuals_.rset_capacity(history_length_property_->getInt());
00103 }
00104
00105 bool validateFloats( const geometry_msgs::WrenchStamped& msg )
00106 {
00107 return rviz::validateFloats(msg.wrench.force) && rviz::validateFloats(msg.wrench.torque) ;
00108 }
00109
00110
00111 void WrenchStampedDisplay::processMessage( const geometry_msgs::WrenchStamped::ConstPtr& msg )
00112 {
00113 if( !validateFloats( *msg ))
00114 {
00115 setStatus( rviz::StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" );
00116 return;
00117 }
00118
00119
00120
00121
00122 Ogre::Quaternion orientation;
00123 Ogre::Vector3 position;
00124 if( !context_->getFrameManager()->getTransform( msg->header.frame_id,
00125 msg->header.stamp,
00126 position, orientation ))
00127 {
00128 ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
00129 msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
00130 return;
00131 }
00132
00133 if ( position.isNaN() )
00134 {
00135 ROS_ERROR_THROTTLE(1.0, "Wrench position contains NaNs. Skipping render as long as the position is invalid");
00136 return;
00137 }
00138
00139
00140
00141 boost::shared_ptr<WrenchStampedVisual> visual;
00142 if( visuals_.full() )
00143 {
00144 visual = visuals_.front();
00145 }
00146 else
00147 {
00148 visual.reset(new WrenchStampedVisual( context_->getSceneManager(), scene_node_ ));
00149 }
00150
00151
00152 visual->setMessage( msg );
00153 visual->setFramePosition( position );
00154 visual->setFrameOrientation( orientation );
00155 float alpha = alpha_property_->getFloat();
00156 float force_scale = force_scale_property_->getFloat();
00157 float torque_scale = torque_scale_property_->getFloat();
00158 float width = width_property_->getFloat();
00159 Ogre::ColourValue force_color = force_color_property_->getOgreColor();
00160 Ogre::ColourValue torque_color = torque_color_property_->getOgreColor();
00161 visual->setForceColor( force_color.r, force_color.g, force_color.b, alpha );
00162 visual->setTorqueColor( torque_color.r, torque_color.g, torque_color.b, alpha );
00163 visual->setForceScale( force_scale );
00164 visual->setTorqueScale( torque_scale );
00165 visual->setWidth( width );
00166
00167
00168 visuals_.push_back(visual);
00169 }
00170
00171 }
00172
00173
00174
00175 #include <pluginlib/class_list_macros.h>
00176 PLUGINLIB_EXPORT_CLASS( rviz::WrenchStampedDisplay, rviz::Display )
00177
00178
00179