pose_with_covariance_visual.h

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/*
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#ifndef POSE_WITH_COVARIANCE_VISUAL_H
#define POSE_WITH_COVARIANCE_VISUAL_H

#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/shape.h>

namespace Ogre
{
class Vector3;
class Quaternion;
}

namespace rviz
{
class Arrow;
class Shape;
}

namespace tuw_pose_rviz_plugin
{

// Declare the visual class for this display.
class PoseWithCovarianceVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  PoseWithCovarianceVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );

  // Destructor.  Removes the visual stuff from the scene.
  virtual ~PoseWithCovarianceVisual();

  // Configure the visual to show the data in the message.
  void setMessage( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg );

  // Set the pose of the coordinate frame the message refers to.
  // These could be done inside setMessage(), but that would require
  // calls to FrameManager and error handling inside setMessage(),
  // which doesn't seem as clean.  This way PoseWithCovarianceVisual is
  // only responsible for visualization.
  void setFramePosition( const Ogre::Vector3& position );
  void setFrameOrientation( const Ogre::Quaternion& orientation );

  // Set the scale of the visual, which is an user-editable
  // parameter and therefore don't come from the PoseWithCovarianceStamped message.
  void setScalePose( float scale );

  // Set the color of the visual's Pose, which is an user-editable
  // parameter and therefore don't come from the PoseWithCovarianceStamped message.
  void setColorPose( Ogre::ColourValue color );

  // Set the color of the visual's variance, which is an user-editable
  // parameter and therefore don't come from the PoseWithCovarianceStamped message.
  void setColorVariance( Ogre::ColourValue color );

private:
  // The object implementing the actual pose shape
  boost::shared_ptr<rviz::Arrow> pose_;

  // The object implementing the actual variance shape
  boost::shared_ptr<rviz::Shape> variance_;

  // A SceneNode whose pose is set to match the coordinate frame of
  // the Imu message header.
  Ogre::SceneNode* frame_node_;

  // The SceneManager, kept here only so the destructor can ask it to
  // destroy the ``frame_node_``.
  Ogre::SceneManager* scene_manager_;

  // The pose Shape object's scale
  float scale_pose_;

  // The pose Shape object's color
  Ogre::ColourValue color_pose_;

  // The variance Shape object's color
  Ogre::ColourValue color_variance_;
};

} // end namespace tuw_pose_rviz_plugin

#endif // POSE_WITH_COVARIANCE_VISUAL_H