render_panel_test.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <QApplication>
 
#include "ros/ros.h"
 
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/displays_panel.h>
 
using namespace rviz;
 
int main(int argc, char** argv)
{
  QApplication app(argc, argv);
  ros::init(argc, argv, "render_panel_test");
 
  DisplaysPanel* displays_panel = new DisplaysPanel;
  RenderPanel* render_panel = new RenderPanel();
  VisualizationManager* vman = new VisualizationManager(render_panel);
 
  render_panel->initialize(vman->getSceneManager(), vman);
  displays_panel->initialize(vman);
  vman->initialize();
  vman->startUpdate();
 
  render_panel->show();
  displays_panel->show();
 
  vman->createDisplay("rviz/Grid", "My Grid", true);
 
  return app.exec();
}