Program Listing for File billboard_line.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2017, Bosch Software Innovations GmbH.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
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* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVIZ_RENDERING__OBJECTS__BILLBOARD_LINE_HPP_
#define RVIZ_RENDERING__OBJECTS__BILLBOARD_LINE_HPP_
#include <cstdint>
#include <vector>
#include <OgreBillboardChain.h>
#include <OgreVector.h>
#include <OgreColourValue.h>
#include <OgreMaterial.h>
#include <OgreSharedPtr.h>
#include "rviz_rendering/objects/object.hpp"
#include "rviz_rendering/visibility_control.hpp"
namespace Ogre
{
class SceneManager;
class SceneNode;
class Quaternion;
class Any;
class BillboardChain;
}
namespace rviz_rendering
{
class BillboardLine : public Object
{
public:
RVIZ_RENDERING_PUBLIC
explicit BillboardLine(Ogre::SceneManager * manager, Ogre::SceneNode * parent_node = nullptr);
RVIZ_RENDERING_PUBLIC
~BillboardLine() override;
RVIZ_RENDERING_PUBLIC
void clear();
RVIZ_RENDERING_PUBLIC
void finishLine();
RVIZ_RENDERING_PUBLIC
void addPoint(const Ogre::Vector3 & point);
RVIZ_RENDERING_PUBLIC
void addPoint(const Ogre::Vector3 & point, const Ogre::ColourValue & color);
RVIZ_RENDERING_PUBLIC
void setLineWidth(float width);
RVIZ_RENDERING_PUBLIC
void setMaxPointsPerLine(uint32_t max);
RVIZ_RENDERING_PUBLIC
void setNumLines(uint32_t num);
// overrides from Object
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_;}
void setUserData(const Ogre::Any & data) override {(void) data;}
Ogre::MaterialPtr getMaterial() {return material_;}
typedef std::vector<Ogre::BillboardChain *> V_ChainContainers;
V_ChainContainers getChains() {return chain_containers_;}
private:
void setupChainContainers();
Ogre::BillboardChain * createChain();
void changeAllElements(
std::function<Ogre::BillboardChain::Element(Ogre::BillboardChain::Element)> change_element);
void incrementChainContainerIfNecessary();
void setupChainsInChainContainers() const;
Ogre::SceneNode * scene_node_;
V_ChainContainers chain_containers_;
Ogre::MaterialPtr material_;
Ogre::ColourValue color_;
float width_;
uint32_t num_lines_;
uint32_t max_points_per_line_;
uint32_t chains_per_container_;
uint32_t current_line_;
uint32_t current_chain_container_;
uint32_t elements_in_current_chain_container_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__BILLBOARD_LINE_HPP_