VoronoiGraphVisual.cpp

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#include <OGRE/OgreVector3.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>

#include <rviz/ogre_helpers/line.h>
#include <tuw_multi_robot_msgs/Vertex.h>
#include <tuw_multi_robot_rviz/VoronoiGraphVisual.h>

namespace tuw_multi_robot_rviz
{

VoronoiGraphVisual::VoronoiGraphVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node)
{
    scene_manager_ = scene_manager;

    // Ogre::SceneNode s form a tree, with each node storing the
    // transform (position and orientation) of itself relative to its
    // parent.  Ogre does the math of combining those transforms when it
    // is time to render.
    //
    // Here we create a node to store the pose of the MarkerDetection's header frame
    // relative to the RViz fixed frame.
    frame_node_ = parent_node->createChildSceneNode();

    // initialize global variables
    colorPath_ = Ogre::ColourValue(255, 0, 0);
    scalePoint_ = 0.1;
    scalePath_ = 1;
}

VoronoiGraphVisual::~VoronoiGraphVisual()
{
    // Destroy the frame node since we don't need it anymore.
    scene_manager_->destroySceneNode(frame_node_);
}

void VoronoiGraphVisual::setMessage(const tuw_multi_robot_msgs::Graph::ConstPtr &msg)
{
    static double timeOld_;
    if (timeOld_ == msg->header.stamp.toSec())
    {
        return;
    }
    timeOld_ = msg->header.stamp.toSec();

    pathLine.resize(msg->vertices.size());
    crossingShape.resize(pathLine.size() * 2);
    for (size_t i = 0; i < pathLine.size(); ++i)
    {
        tuw_multi_robot_msgs::Vertex seg = msg->vertices[i];
        geometry_msgs::Point p1 = seg.path.front();
        geometry_msgs::Point p2 = seg.path.back();

        //      Ogre::Quaternion rotation  = Ogre::Quaternion ( Ogre::Radian( (*spline_)(i / (double)pointsNrPath_ )(2) + atan2(v_y, v_x) ), Ogre::Vector3::UNIT_Z );

        Ogre::Quaternion rotation;
        rotation.x = 1;
        rotation.y = 0;
        rotation.z = 0;
        rotation.w = 0;
        Ogre::Quaternion rotation2 = Ogre::Quaternion(Ogre::Radian(-Ogre::Math::PI / 2.), Ogre::Vector3::UNIT_Y);

        pathLine[i].reset(new rviz::Line(scene_manager_, frame_node_));
        pathLine[i]->setColor(colorPath_);
        pathLine[i]->setPoints(Ogre::Vector3((p1.x) * msg->resolution + msg->origin.position.x, (p1.y) * msg->resolution + msg->origin.position.y, p1.z * msg->resolution + msg->origin.position.z), Ogre::Vector3((p2.x) * msg->resolution + msg->origin.position.x, (p2.y) * msg->resolution + msg->origin.position.y, p2.z * msg->resolution + msg->origin.position.z));
        pathLine[i]->setScale(Ogre::Vector3(scalePath_, scalePath_, scalePath_));

        crossingShape[2 * i].reset(new rviz::Shape(rviz::Shape::Sphere, scene_manager_, frame_node_));
        crossingShape[2 * i]->setColor(colorPath_);
        crossingShape[2 * i]->setPosition(Ogre::Vector3((p1.x) * msg->resolution + msg->origin.position.x, (p1.y) * msg->resolution + msg->origin.position.y, p1.z * msg->resolution + msg->origin.position.z));
        crossingShape[2 * i]->setOrientation(rotation * rotation2);
        crossingShape[2 * i]->setScale(Ogre::Vector3(scalePoint_, scalePoint_, scalePoint_));

        crossingShape[2 * i + 1].reset(new rviz::Shape(rviz::Shape::Sphere, scene_manager_, frame_node_));
        crossingShape[2 * i + 1]->setColor(colorPath_);
        crossingShape[2 * i + 1]->setPosition(Ogre::Vector3((p2.x) * msg->resolution + msg->origin.position.x, (p2.y) * msg->resolution + msg->origin.position.y, p2.z * msg->resolution + msg->origin.position.z));
        crossingShape[2 * i + 1]->setOrientation(rotation * rotation2);
        crossingShape[2 * i + 1]->setScale(Ogre::Vector3(scalePoint_, scalePoint_, scalePoint_));
    }
}

// Position is passed through to the SceneNode.
void VoronoiGraphVisual::setFramePosition(const Ogre::Vector3 &position)
{
    frame_node_->setPosition(position);
}

// Orientation is passed through to the SceneNode.
void VoronoiGraphVisual::setFrameOrientation(const Ogre::Quaternion &orientation)
{
    frame_node_->setOrientation(orientation);
}

// Color is passed through to the Shape object.
void VoronoiGraphVisual::setPathColor(Ogre::ColourValue color)
{
    colorPath_ = color;
    for (auto &pathXYi : pathLine)
    {
        pathXYi->setColor(colorPath_);
    }
}

void VoronoiGraphVisual::setPointScale(float scale)
{
    scalePoint_ = scale;
    for (auto &pathThetai : crossingShape)
    {
        pathThetai->setScale(Ogre::Vector3(scalePoint_, scalePoint_, scalePoint_));
    }
}

void VoronoiGraphVisual::setPathScale(float scale)
{
    scalePath_ = scale;
    for (auto &pathThetai : pathLine)
    {
        pathThetai->setScale(Ogre::Vector3(scalePath_, scalePath_, scalePath_));
    }
}

} // namespace tuw_multi_robot_rviz