render_shapes.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_

#include <moveit/rviz_plugin_render_tools/octomap_render.h>
#include <moveit/macros/class_forward.h>
#include <geometric_shapes/shapes.h>
#include <rviz/helpers/color.h>
#include <boost/shared_ptr.hpp>
#include <Eigen/Geometry>
#include <string>

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class DisplayContext;
class Shape;
}

namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(OcTreeRender);
MOVEIT_CLASS_FORWARD(RenderShapes);

class RenderShapes
{
public:
  RenderShapes(rviz::DisplayContext* context);
  ~RenderShapes();

  void renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Affine3d& p,
                   OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
                   const rviz::Color& color, float alpha);
  void clear();

private:
  rviz::DisplayContext* context_;

  std::vector<boost::shared_ptr<rviz::Shape> > scene_shapes_;
  std::vector<OcTreeRenderPtr> octree_voxel_grids_;
};
}

#endif