spline_visual.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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#ifndef SPLINE_VISUAL_H
#define SPLINE_VISUAL_H

#include <tuw_spline_msgs/Spline.h>
#include <rviz/ogre_helpers/shape.h>
#include <eigen3/unsupported/Eigen/Splines>
#include <rviz/ogre_helpers/arrow.h>

namespace Ogre
{
class Vector3;
class Quaternion;
}

namespace rviz
{
class Shape;
}

namespace tuw_spline_rviz_plugin
{

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

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

  // Configure the visual to show the data in the message.
  void setMessage( const tuw_spline_msgs::Spline::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 SplineVisual is
  // only responsible for visualization.
  void setFramePosition( const Ogre::Vector3& position );
  void setFrameOrientation( const Ogre::Quaternion& orientation );

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

  // Set the shape of the visual, which is an user-editable
  // parameter and therefore don't come from the MarkerDetection message.
  void setShape( rviz::Shape::Type shape_type );

  // Set the scale of the visual, which is an user-editable
  // parameter and therefore don't come from the MarkerDetection message.
  void setPathScale( float scale );
  void setOrientScale( float scale );
  
  
  void setPathPointsNr( int pointsNr );
  void setOrientPointsNr( int pointsNr );

private:
  // The objects implementing the actual shape
  std::vector<boost::shared_ptr<rviz::Shape> > splinePtsXY_;
  std::vector<boost::shared_ptr<rviz::Arrow> > splinePtsTheta_;
  
  boost::shared_ptr<Eigen::Spline3d> spline_;

  // 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 Shape object's color
  Ogre::ColourValue colorPath_;
  Ogre::ColourValue colorOrient_;
  
  // The Shape object's shape type
  rviz::Shape::Type shape_type_;
  
  // The Shape object's scale
  float scalePath_;
  float scaleOrient_;
  
  size_t pointsNrPath_;
  size_t pointsNrOrient_;
};

} // end namespace tuw_spline_rviz_plugin

#endif // SPLINE_VISUAL_H