mesh.h

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/*
 * Copyright (c) 2010, 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:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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#ifndef RVE_COMMON_TRANSFORMERS_MESH_H
#define RVE_COMMON_TRANSFORMERS_MESH_H

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

#include <Eigen/Geometry>

namespace rve_common_transformers
{

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

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

  void onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string&, rve_properties::PropertyChangeType type);

  rve_render_client::MeshInstancePtr mesh_;
  std::vector<rve_render_client::MaterialPtr> materials_;
  std::string resource_;
  std::string frame_;
  float opacity_;

  Eigen::Vector3f position_offset_;
  Eigen::Quaternionf orientation_offset_;
};
typedef boost::shared_ptr<Mesh> MeshPtr;

} // namespace rve_common_transformers

#endif // RVE_COMMON_TRANSFORMERS_MESH_H