Program Listing for File shape.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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* 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"
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#ifndef RVIZ_RENDERING__OBJECTS__SHAPE_HPP_
#define RVIZ_RENDERING__OBJECTS__SHAPE_HPP_
#include <string>
#include <OgreMaterial.h>
#include <OgreSharedPtr.h>
#include <OgreVector.h>
#include "rviz_rendering/objects/object.hpp"
#include "rviz_rendering/visibility_control.hpp"
namespace Ogre
{
class SceneManager;
class SceneNode;
class Any;
class Entity;
}
namespace rviz_rendering
{
class Shape : public Object
{
public:
enum Type
{
Cone,
Cube,
Cylinder,
Sphere,
Mesh,
};
RVIZ_RENDERING_PUBLIC
Shape(Type shape_type, Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node = NULL);
RVIZ_RENDERING_PUBLIC
virtual ~Shape();
RVIZ_RENDERING_PUBLIC
Type getType() {return type_;}
RVIZ_RENDERING_PUBLIC
void setOffset(const Ogre::Vector3 & offset);
RVIZ_RENDERING_PUBLIC
virtual void setColor(float r, float g, float b, float a);
RVIZ_RENDERING_PUBLIC
void setColor(const Ogre::ColourValue & c);
RVIZ_RENDERING_PUBLIC
virtual void setPosition(const Ogre::Vector3 & position);
RVIZ_RENDERING_PUBLIC
virtual void setOrientation(const Ogre::Quaternion & orientation);
RVIZ_RENDERING_PUBLIC
virtual void setScale(const Ogre::Vector3 & scale);
RVIZ_RENDERING_PUBLIC
virtual const Ogre::Vector3 & getPosition();
RVIZ_RENDERING_PUBLIC
virtual const Ogre::Quaternion & getOrientation();
RVIZ_RENDERING_PUBLIC
Ogre::SceneNode * getRootNode() {return scene_node_;}
RVIZ_RENDERING_PUBLIC
void setUserData(const Ogre::Any & data);
RVIZ_RENDERING_PUBLIC
Ogre::Entity * getEntity() {return entity_;}
RVIZ_RENDERING_PUBLIC
Ogre::MaterialPtr getMaterial() {return material_;}
RVIZ_RENDERING_PUBLIC
static Ogre::Entity * createEntity(
const std::string & name, Type shape_type,
Ogre::SceneManager * scene_manager);
protected:
Ogre::SceneNode * scene_node_;
Ogre::SceneNode * offset_node_;
Ogre::Entity * entity_;
Ogre::MaterialPtr material_;
std::string material_name_;
Type type_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__SHAPE_HPP_