Program Listing for File effort_visual.hpp
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/*
* Copyright (c) 2023, Open Source Robotics Foundation, Inc.
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* * Redistributions in binary form must reproduce the above copyright
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#ifndef RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_
#define RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_
#include <map>
#include <memory>
#include <string>
#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
#include "rviz_rendering/objects/arrow.hpp"
#include "rviz_rendering/objects/billboard_line.hpp"
#include "rviz_rendering/visibility_control.hpp"
namespace rviz_rendering
{
class EffortVisual
{
public:
RVIZ_RENDERING_PUBLIC
EffortVisual(
Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node, float width, float scale);
// set rainbow color
RVIZ_RENDERING_PUBLIC
void getRainbowColor(float value, Ogre::ColourValue & color);
RVIZ_RENDERING_PUBLIC
void setEffort(const std::string & joint_name, double effort, double max_effort);
// set the pose of coordinates frame the each joint refers to.
RVIZ_RENDERING_PUBLIC
void setFramePosition(const std::string & joint_name, const Ogre::Vector3 & position);
RVIZ_RENDERING_PUBLIC
void setFrameOrientation(const std::string & joint_name, const Ogre::Quaternion & orientation);
RVIZ_RENDERING_PUBLIC
void setFrameEnabled(const std::string & joint_name, const bool e);
RVIZ_RENDERING_PUBLIC
void setWidth(float w);
RVIZ_RENDERING_PUBLIC
void setScale(float s);
private:
// The object implementing the effort circle
std::map<std::string, std::unique_ptr<rviz_rendering::BillboardLine>> effort_circle_;
std::map<std::string, std::unique_ptr<rviz_rendering::Arrow>> effort_arrow_;
std::map<std::string, bool> effort_enabled_;
Ogre::SceneManager * scene_manager_;
Ogre::SceneNode * parent_node_;
std::map<std::string, Ogre::Vector3> position_;
std::map<std::string, Ogre::Quaternion> orientation_;
float width_, scale_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_