RobotGoalsArrayVisual.h

Go to the documentation of this file.

/*
 * Copyright (c) 2012, 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef TUW_ROBOT_GOALS_ARRAY_VISUAL_H
#define TUW_ROBOT_GOALS_ARRAY_VISUAL_H
 
#include <tuw_multi_robot_msgs/RobotGoalsArray.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_multi_robot_rviz
{
 
// Declare the visual class for this display.
class RobotGoalsArrayVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  RobotGoalsArrayVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
 
  // Destructor.  Removes the visual stuff from the scene.
  virtual ~RobotGoalsArrayVisual();
 
  // Configure the visual to show the data in the message.
  void setMessage( const tuw_multi_robot_msgs::RobotGoalsArray::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 RobotGoalsArrayVisual 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 RobotGoalsArrayStamped 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 RobotGoalsArrayStamped message.
  void setColorPose( Ogre::ColourValue color );
 
private:
  // The object implementing the actual pose shape
  std::vector< boost::shared_ptr<rviz::Arrow> > goals_;
 
  // 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
 
#endif // TUW_ROBOT_GOALS_ARRAY_VISUAL_H