.. _program_listing_file_include_rviz_rendering_objects_wrench_visual.hpp:

Program Listing for File wrench_visual.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rviz_rendering_objects_wrench_visual.hpp>` (``include/rviz_rendering/objects/wrench_visual.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2019, Martin Idel and others
    * 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 RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_
   #define RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_
   
   #include <memory>
   
   #include <OgreVector.h>
   #include <OgreQuaternion.h>
   
   #include "rviz_rendering/visibility_control.hpp"
   
   namespace rviz_rendering
   {
   class Arrow;
   class BillboardLine;
   }
   
   namespace rviz_rendering
   {
   
   /*
    * Each instance of WrenchVisual represents the visualization of a single
    * sensor_msgs::msg::WrenchStamped message.
    */
   class WrenchVisual
   {
   public:
     RVIZ_RENDERING_PUBLIC
     WrenchVisual(Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node);
   
     RVIZ_RENDERING_PUBLIC
     virtual ~WrenchVisual();
   
     // Configure the visual to show the given force and torque vectors
     RVIZ_RENDERING_PUBLIC
     void setWrench(const Ogre::Vector3 & force, const Ogre::Vector3 & torque);
   
     // Set the pose of the coordinate frame the message refers to.
     RVIZ_RENDERING_PUBLIC
     void setFramePosition(const Ogre::Vector3 & position);
   
     RVIZ_RENDERING_PUBLIC
     void setFrameOrientation(const Ogre::Quaternion & orientation);
   
     RVIZ_RENDERING_PUBLIC
     void setForceColor(float r, float g, float b, float a);
   
     RVIZ_RENDERING_PUBLIC
     void setTorqueColor(float r, float g, float b, float a);
   
     RVIZ_RENDERING_PUBLIC
     void setForceScale(float scale);
   
     RVIZ_RENDERING_PUBLIC
     void setTorqueScale(float scale);
   
     RVIZ_RENDERING_PUBLIC
     void setWidth(float width);
   
     RVIZ_RENDERING_PUBLIC
     void setVisible(bool visible);
   
   private:
     void createTorqueDirectionCircle(const Ogre::Quaternion & orientation) const;
     void setTorqueDirectionArrow(const Ogre::Quaternion & orientation) const;
     Ogre::Quaternion getDirectionOfRotationRelativeToTorque(
       const Ogre::Vector3 & torque, const Ogre::Vector3 & axis_z) const;
     void updateForceArrow() const;
     void updateTorque() const;
   
     std::shared_ptr<rviz_rendering::Arrow> arrow_force_;
     std::shared_ptr<rviz_rendering::Arrow> arrow_torque_;
     std::shared_ptr<rviz_rendering::BillboardLine> circle_torque_;
     std::shared_ptr<rviz_rendering::Arrow> circle_arrow_torque_;
     Ogre::Vector3 force_arrow_direction_;
     Ogre::Vector3 torque_arrow_direction_;
     float force_scale_;
     float torque_scale_;
     float width_;
   
     Ogre::SceneNode * frame_node_;
     Ogre::SceneNode * force_node_;
     Ogre::SceneNode * torque_node_;
     Ogre::SceneManager * scene_manager_;
   };
   
   }  // namespace rviz_rendering
   
   #endif  // RVIZ_RENDERING__OBJECTS__WRENCH_VISUAL_HPP_