Program Listing for File wrench_visual.hpp
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/*
* Copyright (c) 2019, Martin Idel and others
* 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.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* 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
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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*/
#ifndef RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_
#define RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_
#include <memory>
#include <OgreVector.h>
#include <OgreQuaternion.h>
#include "rviz_rendering/visibility_control.hpp"
namespace rviz_rendering
{
class Arrow;
class BillboardLine;
}
namespace rviz_rendering
{
/*
* Each instance of WrenchVisual represents the visualization of a single
* sensor_msgs::msg::WrenchStamped message.
*/
class WrenchVisual
{
public:
RVIZ_RENDERING_PUBLIC
WrenchVisual(Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node);
RVIZ_RENDERING_PUBLIC
virtual ~WrenchVisual();
// Configure the visual to show the given force and torque vectors
RVIZ_RENDERING_PUBLIC
void setWrench(const Ogre::Vector3 & force, const Ogre::Vector3 & torque);
// Set the pose of the coordinate frame the message refers to.
RVIZ_RENDERING_PUBLIC
void setFramePosition(const Ogre::Vector3 & position);
RVIZ_RENDERING_PUBLIC
void setFrameOrientation(const Ogre::Quaternion & orientation);
RVIZ_RENDERING_PUBLIC
void setForceColor(float r, float g, float b, float a);
RVIZ_RENDERING_PUBLIC
void setTorqueColor(float r, float g, float b, float a);
RVIZ_RENDERING_PUBLIC
void setForceScale(float scale);
RVIZ_RENDERING_PUBLIC
void setTorqueScale(float scale);
RVIZ_RENDERING_PUBLIC
void setWidth(float width);
RVIZ_RENDERING_PUBLIC
void setVisible(bool visible);
private:
void createTorqueDirectionCircle(const Ogre::Quaternion & orientation) const;
void setTorqueDirectionArrow(const Ogre::Quaternion & orientation) const;
Ogre::Quaternion getDirectionOfRotationRelativeToTorque(
const Ogre::Vector3 & torque, const Ogre::Vector3 & axis_z) const;
void updateForceArrow() const;
void updateTorque() const;
std::shared_ptr<rviz_rendering::Arrow> arrow_force_;
std::shared_ptr<rviz_rendering::Arrow> arrow_torque_;
std::shared_ptr<rviz_rendering::BillboardLine> circle_torque_;
std::shared_ptr<rviz_rendering::Arrow> circle_arrow_torque_;
Ogre::Vector3 force_arrow_direction_;
Ogre::Vector3 torque_arrow_direction_;
float force_scale_;
float torque_scale_;
float width_;
Ogre::SceneNode * frame_node_;
Ogre::SceneNode * force_node_;
Ogre::SceneNode * torque_node_;
Ogre::SceneManager * scene_manager_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_