marker_base.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef RVIZ_MARKER_BASE_H
#define RVIZ_MARKER_BASE_H

#include "rviz/selection/forwards.h"
#include "rviz/interactive_object.h"

#include <visualization_msgs/Marker.h>

#include <ros/time.h>

#include <boost/shared_ptr.hpp>

namespace Ogre
{
class SceneNode;
class Vector3;
class Quaternion;
class Entity;
}

namespace rviz
{

class VisualizationManager;
class MarkerDisplay;

typedef std::pair<std::string, int32_t> MarkerID;
typedef std::set<Ogre::MaterialPtr> S_MaterialPtr;

class MarkerBase
{
public:
  typedef visualization_msgs::Marker Marker;
  typedef visualization_msgs::Marker::ConstPtr MarkerConstPtr;

  MarkerBase(MarkerDisplay* owner, VisualizationManager* manager, Ogre::SceneNode* parent_node);

  virtual ~MarkerBase();

  void setMessage(const Marker& message);
  void setMessage(const MarkerConstPtr& message);
  bool expired();

  void updateFrameLocked();

  const MarkerConstPtr& getMessage() const { return message_; }

  MarkerID getID() { return MarkerID(message_->ns, message_->id); }
  std::string getStringID()
  {
    std::stringstream ss;
    ss << message_->ns << "/" << message_->id;
    return ss.str();
  }

  void setInteractiveObject( InteractiveObjectWPtr object );

  virtual void setPosition( const Ogre::Vector3& position );
  virtual void setOrientation( const Ogre::Quaternion& orientation );
  const Ogre::Vector3& getPosition();
  const Ogre::Quaternion& getOrientation();

  virtual S_MaterialPtr getMaterials() { return S_MaterialPtr(); }

protected:
  bool transform(const MarkerConstPtr& message, Ogre::Vector3& pos, Ogre::Quaternion& orient, Ogre::Vector3& scale);
  virtual void onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message) = 0;

  void extractMaterials( Ogre::Entity *entity, S_MaterialPtr &materials );

  MarkerDisplay* owner_;
  VisualizationManager* vis_manager_;

  Ogre::SceneNode* scene_node_;

  CollObjectHandle coll_;
  MarkerConstPtr message_;

  ros::Time expiration_;
};
typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;

}

#endif