planning_scene_render.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_PLANNING_SCENE_RENDER_
00038 #define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_PLUGIN_PLANNING_SCENE_RENDER_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_scene/planning_scene.h>
00042 #include <moveit/rviz_plugin_render_tools/render_shapes.h>
00043 #include <rviz/helpers/color.h>
00044 #include <OgreMaterial.h>
00045 
00046 namespace Ogre
00047 {
00048 class SceneNode;
00049 }
00050 
00051 namespace rviz
00052 {
00053 class DisplayContext;
00054 }
00055 
00056 namespace moveit_rviz_plugin
00057 {
00058 MOVEIT_CLASS_FORWARD(RobotStateVisualization);
00059 MOVEIT_CLASS_FORWARD(RenderShapes);
00060 MOVEIT_CLASS_FORWARD(PlanningSceneRender);
00061 
00062 class PlanningSceneRender
00063 {
00064 public:
00065   PlanningSceneRender(Ogre::SceneNode* root_node, rviz::DisplayContext* context,
00066                       const RobotStateVisualizationPtr& robot);
00067   ~PlanningSceneRender();
00068 
00069   Ogre::SceneNode* getGeometryNode()
00070   {
00071     return planning_scene_geometry_node_;
00072   }
00073 
00074   const RobotStateVisualizationPtr& getRobotVisualization()
00075   {
00076     return scene_robot_;
00077   }
00078 
00079   void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene, const rviz::Color& default_scene_color,
00080                            const rviz::Color& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
00081                            OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
00082   void clear();
00083 
00084 private:
00085   Ogre::SceneNode* planning_scene_geometry_node_;
00086   rviz::DisplayContext* context_;
00087   RenderShapesPtr render_shapes_;
00088   RobotStateVisualizationPtr scene_robot_;
00089 };
00090 }
00091 
00092 #endif


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:25:00