Program Listing for File grid.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2017, Bosch Software Innovations GmbH.
* All rights reserved.
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* modification, are permitted provided that the following conditions are met:
*
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* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
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* 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"
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#ifndef RVIZ_RENDERING__OBJECTS__GRID_HPP_
#define RVIZ_RENDERING__OBJECTS__GRID_HPP_
#include <cstdint>
#include <memory>
#include <vector>
#include <OgreColourValue.h>
#include <OgreMaterial.h>
#include <OgreSharedPtr.h>
#include "rviz_rendering/visibility_control.hpp"
namespace Ogre
{
class SceneManager;
class ManualObject;
class SceneNode;
class Any;
}
namespace rviz_rendering
{
class BillboardLine;
class Grid
{
public:
enum Style
{
Lines,
Billboards,
};
RVIZ_RENDERING_PUBLIC
Grid(
Ogre::SceneManager * manager, Ogre::SceneNode * parent_node, Style style,
uint32_t cell_count, float cell_length, float line_width, const Ogre::ColourValue & color);
RVIZ_RENDERING_PUBLIC
~Grid();
RVIZ_RENDERING_PUBLIC
void create();
Ogre::SceneNode * getSceneNode() {return scene_node_;}
RVIZ_RENDERING_PUBLIC
void setUserData(const Ogre::Any & data);
RVIZ_RENDERING_PUBLIC
void setStyle(Style style);
Style getStyle() {return style_;}
RVIZ_RENDERING_PUBLIC
void setColor(const Ogre::ColourValue & color);
Ogre::ColourValue getColor() {return color_;}
RVIZ_RENDERING_PUBLIC
void setCellCount(uint32_t count);
uint32_t getCellCount() {return cell_count_;}
RVIZ_RENDERING_PUBLIC
void setCellLength(float len);
float getCellLength() {return cell_length_;}
RVIZ_RENDERING_PUBLIC
void setLineWidth(float width);
float getLineWidth() {return line_width_;}
RVIZ_RENDERING_PUBLIC
void setHeight(uint32_t count);
uint32_t getHeight() {return height_count_;}
Ogre::ManualObject * getManualObject() {return manual_object_;}
std::shared_ptr<BillboardLine> getBillboardLine() {return billboard_line_;}
private:
typedef std::function<void (const Ogre::Vector3 & p3, const Ogre::Vector3 & p4)> AddLineFunction;
void createBillboardGrid() const;
void createManualGrid() const;
void createLines(AddLineFunction addLine) const;
void createGridPlane(float extent, uint32_t height, AddLineFunction addLine) const;
void createVerticalLinesBetweenPlanes(float extent, AddLineFunction addLine) const;
void addBillboardLine(const Ogre::Vector3 & p3, const Ogre::Vector3 & p4) const;
void addManualLine(const Ogre::Vector3 & p1, const Ogre::Vector3 & p2) const;
uint32_t numberOfVerticalLines() const;
Ogre::SceneManager * scene_manager_;
Ogre::SceneNode * scene_node_;
Ogre::ManualObject * manual_object_;
std::shared_ptr<BillboardLine> billboard_line_;
Ogre::MaterialPtr material_;
Style style_;
uint32_t cell_count_;
float cell_length_;
float line_width_;
uint32_t height_count_;
Ogre::ColourValue color_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__GRID_HPP_