torus_array_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_

#ifndef Q_MOC_RUN
#include <jsk_recognition_msgs/TorusArray.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/message_filter_display.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/mesh_shape.h>
#include <rviz/ogre_helpers/arrow.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#endif

namespace jsk_rviz_plugins
{
  struct Triangle
  {
    unsigned v1, v2, v3; // index for the 3 vertices that make up a triangle
  };

  class TorusArrayDisplay: public rviz::MessageFilterDisplay<jsk_recognition_msgs::TorusArray>
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<rviz::Arrow> ArrowPtr;
    typedef std::shared_ptr<rviz::MeshShape> ShapePtr;
#else
    typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
    typedef boost::shared_ptr<rviz::MeshShape> ShapePtr;
#endif
    TorusArrayDisplay();
    virtual ~TorusArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    void allocateShapes(const jsk_recognition_msgs::TorusArray::ConstPtr& msg);
    void allocateShapes(const size_t num);
    QColor getColor(size_t index);
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::IntProperty* uv_property_;
    rviz::BoolProperty* auto_color_property_;
    rviz::BoolProperty* show_normal_property_;
    rviz::FloatProperty* normal_length_property_;
    QColor color_;
    double alpha_;
    bool auto_color_;
    bool show_normal_;
    double normal_length_;
    int uv_dimension_;
    std::vector<Ogre::SceneNode*> arrow_nodes_;
    std::vector<ArrowPtr> arrow_objects_;
    std::vector<ShapePtr> shapes_;
  private Q_SLOTS:
    void updateColor();
    void updateAlpha();
    void updateUVdimension();
    void updateAutoColor();
    void updateShowNormal();
    void updateNormalLength();

    void calcurateTriangleMesh(
                               int large_dimension, int small_dimension,
                               float large_radius, float small_radius,
                               Ogre::Vector3 pos, Ogre::Quaternion q,
                               std::vector<Triangle> &triangles,
                               std::vector<Ogre::Vector3> &vertices,
                               std::vector<Ogre::Vector3> &normals
                               );
  private:
    void processMessage(const jsk_recognition_msgs::TorusArray::ConstPtr& msg);
  };

}
#endif