Program Listing for File screw_visual.hpp
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/*
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#ifndef RVIZ_RENDERING__OBJECTS__SCREW_VISUAL_HPP_
#define RVIZ_RENDERING__OBJECTS__SCREW_VISUAL_HPP_
#include "rviz_rendering/objects/screw_visual.hpp"
#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
#include <memory>
#include "rviz_rendering/objects/arrow.hpp"
#include "rviz_rendering/objects/billboard_line.hpp"
#include "rviz_rendering/visibility_control.hpp"
namespace rviz_rendering
{
// ScrewVisual visualizes a single screw, i.e. a wrench, twist, or acceleration
class ScrewVisual
{
public:
// Constructor.
// Creates the visual stuff and puts it into the scene, but in an unconfigured state.
RVIZ_RENDERING_PUBLIC
ScrewVisual(Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node);
// Destructor. Removes the visual stuff from the scene.
virtual ~ScrewVisual();
// Configure the visual to show the given linear and angular vectors
RVIZ_RENDERING_PUBLIC
void setScrew(const Ogre::Vector3 & linear, const Ogre::Vector3 & angular);
// Set the pose of the coordinate frame the message refers to.
// This could be done inside setMessage(), but that would require calls to FrameManager
// and error handling inside setMessage(), which doesn't seem as clean.
// This way ScrewVisual is only responsible for visualization.
RVIZ_RENDERING_PUBLIC
void setFramePosition(const Ogre::Vector3 & position);
RVIZ_RENDERING_PUBLIC
void setFrameOrientation(const Ogre::Quaternion & orientation);
// Set the color and alpha of the visual, which are user-editable
// parameters and therefore don't come from the message.
RVIZ_RENDERING_PUBLIC
void setLinearColor(float r, float g, float b, float a);
RVIZ_RENDERING_PUBLIC
void setAngularColor(float r, float g, float b, float a);
RVIZ_RENDERING_PUBLIC
void setLinearScale(float s);
RVIZ_RENDERING_PUBLIC
void setAngularScale(float s);
RVIZ_RENDERING_PUBLIC
void setWidth(float w);
RVIZ_RENDERING_PUBLIC
void setHideSmallValues(bool h);
RVIZ_RENDERING_PUBLIC
void setVisible(bool visible);
private:
// The object implementing the circle
std::unique_ptr<rviz_rendering::Arrow> arrow_linear_;
std::unique_ptr<rviz_rendering::Arrow> arrow_angular_;
std::unique_ptr<rviz_rendering::BillboardLine> circle_angular_;
std::unique_ptr<rviz_rendering::Arrow> circle_arrow_angular_;
float linear_scale_;
float angular_scale_;
float width_;
bool hide_small_values_;
// A SceneNode whose pose is set to match the coordinate frame of the message header.
Ogre::SceneNode * frame_node_;
// allow showing/hiding of linear / angular arrows
Ogre::SceneNode * linear_node_;
Ogre::SceneNode * angular_node_;
// The SceneManager, kept here only so the destructor can ask it to destroy the ``frame_node_``.
Ogre::SceneManager * scene_manager_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__SCREW_VISUAL_HPP_