arrow_marker.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <OgreVector3.h>
00031 #include <OgreQuaternion.h>
00032 #include <OgreSceneNode.h>
00033 #include <OgreSceneManager.h>
00034 #include <OgreEntity.h>
00035 
00036 #include <tf/transform_listener.h>
00037 
00038 #include "rviz/default_plugin/marker_display.h"
00039 #include "rviz/default_plugin/markers/marker_selection_handler.h"
00040 #include "rviz/display_context.h"
00041 #include "rviz/ogre_helpers/arrow.h"
00042 #include "rviz/ogre_helpers/shape.h"
00043 #include "rviz/selection/selection_manager.h"
00044 
00045 #include "rviz/default_plugin/markers/arrow_marker.h"
00046 
00047 namespace rviz
00048 {
00049 
00050 ArrowMarker::ArrowMarker( MarkerDisplay* owner, DisplayContext* context, Ogre::SceneNode* parent_node )
00051   : MarkerBase( owner, context, parent_node )
00052   , arrow_( 0 ), last_arrow_set_from_points_(false)
00053 {
00054   child_scene_node_ = scene_node_->createChildSceneNode();
00055 }
00056 
00057 ArrowMarker::~ArrowMarker()
00058 {
00059   delete arrow_;
00060   context_->getSceneManager()->destroySceneNode( child_scene_node_ );
00061 }
00062 
00063 void ArrowMarker::setDefaultProportions()
00064 {
00065   arrow_->set(0.77, 1.0, 0.23, 2.0);
00066 }
00067 
00068 void ArrowMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
00069 {
00070   ROS_ASSERT(new_message->type == visualization_msgs::Marker::ARROW);
00071 
00072   if (!new_message->points.empty() && new_message->points.size() < 2)
00073   {
00074     std::stringstream ss;
00075     ss << "Arrow marker [" << getStringID() << "] only specified one point of a point to point arrow.";
00076     if ( owner_ )
00077     {
00078       owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
00079     }
00080     ROS_DEBUG("%s", ss.str().c_str());
00081 
00082     delete arrow_;
00083     arrow_ = 0;
00084 
00085     return;
00086   }
00087 
00088   if (!arrow_)
00089   {
00090     arrow_ = new Arrow(context_->getSceneManager(), child_scene_node_);
00091     setDefaultProportions();
00092     handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
00093     handler_->addTrackedObjects( arrow_->getSceneNode() );
00094   }
00095 
00096   Ogre::Vector3 pos, scale;
00097   Ogre::Quaternion orient;
00098   transform(new_message, pos, orient, scale);
00099   setPosition(pos);
00100   setOrientation( orient );
00101 
00102   arrow_->setColor(new_message->color.r, new_message->color.g, new_message->color.b, new_message->color.a);
00103 
00104   // compute translation & rotation from the two points
00105   if (new_message->points.size() == 2)
00106   {
00107     last_arrow_set_from_points_ = true;
00108 
00109     Ogre::Vector3 point1( new_message->points[0].x, new_message->points[0].y, new_message->points[0].z );
00110     Ogre::Vector3 point2( new_message->points[1].x, new_message->points[1].y, new_message->points[1].z );
00111 
00112     Ogre::Vector3 direction = point2 - point1;
00113     float distance = direction.length();
00114 
00115     float head_length_proportion = 0.23; // Seems to be a good value based on default in arrow.h of shaft:head ratio of 1:0.3
00116     float head_length = head_length_proportion*distance;
00117     if ( new_message->scale.z != 0.0 )
00118     {
00119       float length = new_message->scale.z;
00120       head_length = std::max<double>(0.0, std::min<double>(length, distance)); // clamp
00121     }
00122     float shaft_length = distance - head_length;
00123 
00124     arrow_->set(shaft_length, new_message->scale.x, head_length, new_message->scale.y);
00125 
00126     direction.normalise();
00127 
00128     // for some reason the arrow goes into the y direction by default
00129     Ogre::Quaternion orient = Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo( direction );
00130 
00131     arrow_->setPosition(point1);
00132     arrow_->setOrientation( orient );
00133   }
00134   else
00135   {
00136     if(last_arrow_set_from_points_)
00137     {
00138       // Reset arrow to default proportions if we previously set it from points
00139       setDefaultProportions();
00140       last_arrow_set_from_points_ = false;
00141     }
00142     if ( owner_ && (new_message->scale.x * new_message->scale.y * new_message->scale.z == 0.0f) )
00143     {
00144       owner_->setMarkerStatus(getID(), StatusProperty::Warn, "Scale of 0 in one of x/y/z");
00145     }
00146     arrow_->setScale(scale);
00147 
00148     Ogre::Quaternion orient = Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo( Ogre::Vector3(1,0,0) );
00149     arrow_->setOrientation( orient );
00150   }
00151 }
00152 
00153 S_MaterialPtr ArrowMarker::getMaterials()
00154 {
00155   S_MaterialPtr materials;
00156   extractMaterials( arrow_->getHead()->getEntity(), materials );
00157   extractMaterials( arrow_->getShaft()->getEntity(), materials );
00158   return materials;
00159 }
00160 
00161 }


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Tue Oct 3 2017 03:19:30