link_updater.h

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/*
 * Copyright (c) 2009, 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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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * 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.
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#ifndef RVIZ_ROBOT_LINK_UPDATER_H
#define RVIZ_ROBOT_LINK_UPDATER_H

#include <string>
#include "rviz/status_level.h"

namespace Ogre
{
class Vector3;
class Quaternion;
}

namespace rviz
{

class LinkUpdater
{
public:
  virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
                                 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation, bool& apply_offset_transforms) const = 0;

  virtual void setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const {}
};

} // namespace rviz

#endif // RVIZ_ROBOT_LINK_UPDATER_H