DrawMeshHandler.h
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00001 
00002 
00003 #pragma once
00004 
00005 #include <vrep_ros_plugin/GenericObjectHandler.h>
00006 #include <shape_msgs/Mesh.h>
00007 
00008 
00009 class DrawMeshHandler : public GenericObjectHandler
00010 {
00011 public:
00012         DrawMeshHandler();
00013         ~DrawMeshHandler();
00014 
00018         void synchronize();
00019 
00023         bool endOfSimulation();
00024 
00028         void handleSimulation();
00029 
00033         unsigned int getObjectType() const;
00034 
00035         static const unsigned int DATA_MAIN; 
00036         static const unsigned int DATA_WIDTH; 
00037         static const unsigned int DATA_DIFFUSE; 
00038         static const unsigned int DATA_SPECULAR; 
00039         static const unsigned int DATA_EMISSION; 
00040         static const unsigned int DATA_TRANSPARENCY; 
00041 
00042 protected:
00043 
00047         void registerCustomVariables() const;
00048 
00052         void _initialize();
00053 
00057         ros::Subscriber _sub;
00058 
00062         shape_msgs::MeshConstPtr _lastMsg;
00063 
00067         void msgCallback(shape_msgs::MeshConstPtr msg);
00068 
00072         simFloat _lastTime;
00073 
00077         simFloat _frequency;
00078 
00082         simInt _drawingObject;
00083 
00084 
00085         simInt _width; 
00086         simFloat _diffuse[3]; 
00087         simFloat _specular[3]; 
00088         simFloat _emission[3]; 
00089         simInt _transparency; 
00090 };


drawing_handler
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Mon Apr 3 2017 04:03:47