map.h

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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
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#ifndef RVE_COMMON_TRANSFORMERS_MAP_H
#define RVE_COMMON_TRANSFORMERS_MAP_H

#include <rve_transformer/transformer.h>
#include <rve_render_client/forwards.h>

#include <sensor_msgs/Image.h>
#include <nav_msgs/OccupancyGrid.h>

#include <Eigen/Geometry>

namespace rve_common_transformers
{

class Map : public rve_transformer::Transformer
{
public:
  Map();
  ~Map();

private:
  virtual void onInit();
  virtual void onUpdate();

  void receiveOccupancyGrid(const nav_msgs::OccupancyGridConstPtr &msg);
  void onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string&, rve_properties::PropertyChangeType type);
  void makeMesh( sensor_msgs::ImagePtr &image );
  void makeBlock(int i, int j);

  rve_render_client::TexturePtr map_texture_;
  rve_render_client::MeshInstancePtr mesh_instance_;
  sensor_msgs::ImagePtr map_image_;
  ros::Subscriber map_sub_;

  nav_msgs::OccupancyGridConstPtr map_;
  rve_msgs::Vector3 position_;
  rve_msgs::Quaternion orientation_;
  int map_width_pixels_;
  int map_height_pixels_;
  double map_width_meters_;
  double map_height_meters_;
  double resolution_;
  std::string frame_;
};
typedef boost::shared_ptr<Map> MapPtr;

} // namespace rve_common_transformers

#endif // RVE_COMMON_TRANSFORMERS_MAP_H