VoronoiSegmentVisual.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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#ifndef VORONOISEGMENTVISUAL_H
#define VORONOISEGMENTVISUAL_H
 
#include <tuw_multi_robot_msgs/Graph.h>
#include <geometry_msgs/Vector3.h>
 
 
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/line.h>
 
namespace Ogre
{
class Vector3;
class Quaternion;
}
 
namespace rviz
{
class Shape;
}
 
namespace tuw_multi_robot_rviz
{
 
// BEGIN_TUTORIAL
// Declare the visual class for this display.
//
// Each instance of ImuVisual represents the visualization of a single
// sensor_msgs::Imu message.  Currently it just shows an arrow with
// the direction and magnitude of the acceleration vector, but could
// easily be expanded to include more of the message data.
class VoronoiSegmentVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  VoronoiSegmentVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
 
  // Destructor.  Removes the visual stuff from the scene.
  virtual ~VoronoiSegmentVisual();
 
  // Configure the visual to show the data in the message.
  void setMessage( const tuw_multi_robot_msgs::Graph::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 PathVisual 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 Path message.
  void setPathColor( Ogre::ColourValue color );
  void setPathScale ( float scale );
 
private:
  typedef struct Line_t
  {
          float x0;
          float y0;
          float x1;
          float y1;
  }Line;
  
  Line offsetLine(Line _l, float d);
  
  // The objects implementing the actual shape
  //std::vector<boost::shared_ptr<rviz::Arrow> > pathPtsTheta_;
  std::vector<boost::shared_ptr<rviz::Line> > pathLine;
 
  // 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_;
  
  float scalePath_;
  float scalePoint_;
};
// END_TUTORIAL
 
} // end namespace rviz_plugin_tutorials
 
#endif // IMU_VISUAL_H