Program Listing for File axes.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2017, Open Source Robotics Foundation, Inc.
* All rights reserved.
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions in binary form must reproduce the above copyright
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_RENDERING__OBJECTS__AXES_HPP_
#define RVIZ_RENDERING__OBJECTS__AXES_HPP_
#include <cstddef>
#include <cstdint>
#include <memory>
#include <vector>
#include <OgreVector.h>
#include "object.hpp"
#include "shape.hpp"
#include "rviz_rendering/visibility_control.hpp"
namespace Ogre
{
class SceneManager;
class SceneNode;
class Quaternion;
class Any;
class ColourValue;
}
namespace rviz_rendering
{
class Axes : public Object
{
public:
RVIZ_RENDERING_PUBLIC
explicit Axes(
Ogre::SceneManager * manager,
Ogre::SceneNode * parent_node = nullptr,
float length = 1.0f,
float radius = 0.1f);
~Axes() override;
RVIZ_RENDERING_PUBLIC
void set(float length, float radius);
RVIZ_RENDERING_PUBLIC
void setOrientation(const Ogre::Quaternion & orientation) override;
RVIZ_RENDERING_PUBLIC
void setPosition(const Ogre::Vector3 & position) override;
RVIZ_RENDERING_PUBLIC
void setScale(const Ogre::Vector3 & scale) override;
RVIZ_RENDERING_PUBLIC
void setColor(float r, float g, float b, float a) override;
RVIZ_RENDERING_PUBLIC
const Ogre::Vector3 & getPosition() override;
RVIZ_RENDERING_PUBLIC
const Ogre::Quaternion & getOrientation() override;
Ogre::SceneNode * getSceneNode() {return scene_node_;}
RVIZ_RENDERING_PUBLIC
void setUserData(const Ogre::Any & data) override;
RVIZ_RENDERING_PUBLIC
Shape & getXShape() {return *x_axis_;}
RVIZ_RENDERING_PUBLIC
Shape & getYShape() {return *y_axis_;}
RVIZ_RENDERING_PUBLIC
Shape & getZShape() {return *z_axis_;}
RVIZ_RENDERING_PUBLIC
void setXColor(const Ogre::ColourValue & col);
RVIZ_RENDERING_PUBLIC
void setYColor(const Ogre::ColourValue & col);
RVIZ_RENDERING_PUBLIC
void setZColor(const Ogre::ColourValue & col);
RVIZ_RENDERING_PUBLIC
void setToDefaultColors();
RVIZ_RENDERING_PUBLIC
static const Ogre::ColourValue & getDefaultXColor();
RVIZ_RENDERING_PUBLIC
static const Ogre::ColourValue & getDefaultYColor();
RVIZ_RENDERING_PUBLIC
static const Ogre::ColourValue & getDefaultZColor();
private:
// prohibit copying
Axes(const Axes & other)
: Object(nullptr) {(void) other;}
Axes & operator=(const Axes & other) {(void) other; return *this;}
Ogre::SceneNode * scene_node_;
std::unique_ptr<Shape> x_axis_;
std::unique_ptr<Shape> y_axis_;
std::unique_ptr<Shape> z_axis_;
static const Ogre::ColourValue default_x_color_;
static const Ogre::ColourValue default_y_color_;
static const Ogre::ColourValue default_z_color_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__AXES_HPP_