render_shapes.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
00038 #define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
00039 
00040 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
00041 #include <moveit/macros/class_forward.h>
00042 #include <geometric_shapes/shapes.h>
00043 #include <rviz/helpers/color.h>
00044 #include <boost/shared_ptr.hpp>
00045 #include <Eigen/Geometry>
00046 #include <string>
00047 
00048 namespace Ogre
00049 {
00050 class SceneNode;
00051 }
00052 
00053 namespace rviz
00054 {
00055 class DisplayContext;
00056 class Shape;
00057 }
00058 
00059 namespace moveit_rviz_plugin
00060 {
00061 MOVEIT_CLASS_FORWARD(OcTreeRender);
00062 MOVEIT_CLASS_FORWARD(RenderShapes);
00063 
00064 class RenderShapes
00065 {
00066 public:
00067   RenderShapes(rviz::DisplayContext* context);
00068   ~RenderShapes();
00069 
00070   void renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Affine3d& p,
00071                    OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
00072                    const rviz::Color& color, float alpha);
00073   void clear();
00074 
00075 private:
00076   rviz::DisplayContext* context_;
00077 
00078   std::vector<boost::shared_ptr<rviz::Shape> > scene_shapes_;
00079   std::vector<OcTreeRenderPtr> octree_voxel_grids_;
00080 };
00081 }
00082 
00083 #endif


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:22:14