marker_utils.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * 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"
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#ifndef RVIZ_MARKER_UTILS_H
#define RVIZ_MARKER_UTILS_H


#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include "rviz/properties/status_property.h"

namespace Ogre
{
class SceneNode;
}

namespace rviz
{

class DisplayContext;
class MarkerDisplay;
class MarkerBase;

MarkerBase* createMarker(int marker_type, MarkerDisplay *owner, DisplayContext *context, Ogre::SceneNode *parent_node);

bool checkMarkerMsg(const visualization_msgs::Marker& marker, MarkerDisplay* owner);
bool checkMarkerArrayMsg(const visualization_msgs::MarkerArray& array, MarkerDisplay* owner);

void checkQuaternion(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void checkScale(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkScaleLineStripAndList(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkScalePoints(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkScaleText(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void checkColor(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);


void checkPointsArrow(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkPointsNotEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkPointsEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void checkColors(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkColorsEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void checkTextNotEmptyOrWhitespace(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkTextEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void checkMesh(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
void checkMeshEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

void addSeparatorIfRequired(std::stringstream& ss);
void increaseWarningLevel(StatusProperty::Level new_status, StatusProperty::Level& current_status);
}

#endif