Program Listing for File flat_weighted_arrows_array.hpp
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/*
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// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_
#define NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_
#include <vector>
#include <OgreManualObject.h>
#include <OgreMaterialManager.h>
#include <OgreSceneNode.h>
#include <Ogre.h>
#include <OgreQuaternion.h>
#include "nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp"
namespace nav2_rviz_plugins
{
struct OgrePoseWithWeight;
class FlatWeightedArrowsArray
{
public:
explicit FlatWeightedArrowsArray(Ogre::SceneManager * scene_manager_);
~FlatWeightedArrowsArray();
void createAndAttachManualObject(Ogre::SceneNode * scene_node);
void updateManualObject(
Ogre::ColourValue color,
float alpha,
float min_length,
float max_length,
const std::vector<nav2_rviz_plugins::OgrePoseWithWeight> & poses);
void clear();
private:
void setManualObjectMaterial();
void setManualObjectVertices(
const Ogre::ColourValue & color,
float min_length,
float max_length,
const std::vector<nav2_rviz_plugins::OgrePoseWithWeight> & poses);
Ogre::SceneManager * scene_manager_;
Ogre::ManualObject * manual_object_;
Ogre::MaterialPtr material_;
};
} // namespace nav2_rviz_plugins
#endif // NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_