line_strip_marker.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2009, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #include "line_strip_marker.h"
31 
34 #include "rviz/display_context.h"
35 #include <rviz/validate_floats.h>
36 
38 
39 #include <OgreVector3.h>
40 #include <OgreQuaternion.h>
41 #include <OgreSceneNode.h>
42 
43 namespace rviz
44 {
46  DisplayContext* context,
47  Ogre::SceneNode* parent_node)
48  : MarkerBase(owner, context, parent_node), lines_(nullptr)
49 {
50 }
51 
53 {
54  delete lines_;
55 }
56 
57 void LineStripMarker::onNewMessage(const MarkerConstPtr& /*old_message*/,
58  const MarkerConstPtr& new_message)
59 {
60  ROS_ASSERT(new_message->type == visualization_msgs::Marker::LINE_STRIP);
61 
62  if (!lines_)
63  {
65  }
66 
67  Ogre::Vector3 pos, scale;
68  Ogre::Quaternion orient;
69  transform(new_message, pos, orient, scale);
70 
71  setPosition(pos);
72  setOrientation(orient);
73  lines_->setScale(scale);
74  lines_->setColor(new_message->color.r, new_message->color.g, new_message->color.b,
75  new_message->color.a);
76 
77  lines_->clear();
78  if (new_message->points.empty())
79  {
80  return;
81  }
82 
83  lines_->setLineWidth(new_message->scale.x);
84  lines_->setMaxPointsPerLine(new_message->points.size());
85 
86  bool has_per_point_color = new_message->colors.size() == new_message->points.size();
87 
88  size_t i = 0;
89  std::vector<geometry_msgs::Point>::const_iterator it = new_message->points.begin();
90  std::vector<geometry_msgs::Point>::const_iterator end = new_message->points.end();
91  for (; it != end; ++it, ++i)
92  {
93  const geometry_msgs::Point& p = *it;
94 
95  Ogre::Vector3 v(p.x, p.y, p.z);
96  if (!validateFloats(p))
97  {
98  ROS_WARN("Marker '%s/%d': invalid point[%zu] (%.2f, %.2f, %.2f)", new_message->ns.c_str(),
99  new_message->id, i, p.x, p.y, p.z);
100  continue;
101  }
102 
103  Ogre::ColourValue c;
104  if (has_per_point_color)
105  {
106  const std_msgs::ColorRGBA& color = new_message->colors[i];
107  if (!validateFloats(color))
108  {
109  ROS_WARN("Marker '%s/%d': invalid color[%zu] (%.2f, %.2f, %.2f, %.2f)", new_message->ns.c_str(),
110  new_message->id, i, color.r, color.g, color.b, color.a);
111  continue;
112  }
113  c.r = color.r;
114  c.g = color.g;
115  c.b = color.b;
116  c.a = color.a;
117  }
118  else
119  {
120  c.r = new_message->color.r;
121  c.g = new_message->color.g;
122  c.b = new_message->color.b;
123  c.a = new_message->color.a;
124  }
125 
126  lines_->addPoint(v, c);
127  }
128 
129  handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
130  handler_->addTrackedObjects(lines_->getSceneNode());
131 }
132 
134 {
135  S_MaterialPtr materials;
136  materials.insert(lines_->getMaterial());
137  return materials;
138 }
139 
140 } // namespace rviz
Ogre::SceneNode * scene_node_
Definition: marker_base.h:116
bool transform(const MarkerConstPtr &message, Ogre::Vector3 &pos, Ogre::Quaternion &orient, Ogre::Vector3 &scale)
Definition: marker_base.cpp:83
void addPoint(const Ogre::Vector3 &point)
An object that displays a multi-segment line strip rendered as billboards.
void onNewMessage(const MarkerConstPtr &old_message, const MarkerConstPtr &new_message) override
BillboardLine * lines_
Ogre::MaterialPtr getMaterial()
virtual void setPosition(const Ogre::Vector3 &position)
#define ROS_WARN(...)
Ogre::SceneNode * getSceneNode()
Get the scene node associated with this object.
std::pair< std::string, int32_t > MarkerID
Pure-virtual base class for objects which give Display subclasses context in which to work...
bool validateFloats(const sensor_msgs::CameraInfo &msg)
boost::shared_ptr< MarkerSelectionHandler > handler_
Definition: marker_base.h:122
DisplayContext * context_
Definition: marker_base.h:114
void setColor(float r, float g, float b, float a) override
Set the color of the object. Values are in the range [0, 1].
void setMaxPointsPerLine(uint32_t max)
LineStripMarker(MarkerDisplay *owner, DisplayContext *context, Ogre::SceneNode *parent_node)
visualization_msgs::Marker::ConstPtr MarkerConstPtr
Definition: marker_base.h:63
virtual Ogre::SceneManager * getSceneManager() const =0
Returns the Ogre::SceneManager used for the main RenderPanel.
std::set< Ogre::MaterialPtr > S_MaterialPtr
Definition: marker_base.h:57
virtual void setOrientation(const Ogre::Quaternion &orientation)
S_MaterialPtr getMaterials() override
#define ROS_ASSERT(cond)
void setScale(const Ogre::Vector3 &scale) override
Set the scale of the object. Always relative to the identity orientation of the object.
Displays "markers" sent in by other ROS nodes on the "visualization_marker" topic.
void setLineWidth(float width)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat May 27 2023 02:06:24