00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_ROBOT_MODEL_DISPLAY_H 00031 #define RVIZ_ROBOT_MODEL_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 #include "rviz/properties/forwards.h" 00035 00036 #include <OGRE/OgreVector3.h> 00037 00038 #include <map> 00039 00040 namespace Ogre 00041 { 00042 class Entity; 00043 class SceneNode; 00044 } 00045 00046 namespace rviz 00047 { 00048 class Axes; 00049 } 00050 00051 namespace rviz 00052 { 00053 00054 class Robot; 00055 00060 class RobotModelDisplay : public Display 00061 { 00062 public: 00063 RobotModelDisplay(); 00064 virtual ~RobotModelDisplay(); 00065 00066 void onInitialize(); 00067 00072 void setRobotDescription( const std::string& description_param ); 00073 00074 virtual void update(float wall_dt, float ros_dt); 00075 00080 void setVisualVisible( bool visible ); 00081 00086 void setCollisionVisible( bool visible ); 00087 00092 void setUpdateRate( float rate ); 00093 00094 const std::string& getRobotDescription() { return description_param_; } 00095 float getUpdateRate() { return update_rate_; } 00096 bool isVisualVisible(); 00097 bool isCollisionVisible(); 00098 00099 float getAlpha() { return alpha_; } 00100 void setAlpha( float alpha ); 00101 00102 const std::string& getTFPrefix() { return tf_prefix_; } 00103 void setTFPrefix(const std::string& prefix); 00104 00105 void clear(); 00106 00107 // Overrides from Display 00108 virtual void fixedFrameChanged(); 00109 virtual void createProperties(); 00110 virtual void reset(); 00111 00113 virtual void hideVisible(); 00114 00116 virtual void restoreVisible(); 00117 00118 protected: 00119 00123 void load(); 00124 00125 // overrides from Display 00126 virtual void onEnable(); 00127 virtual void onDisable(); 00128 00129 std::string description_param_; 00130 00131 Robot* robot_; 00132 00133 bool has_new_transforms_; 00134 00135 float time_since_last_transform_; 00136 float update_rate_; 00137 float alpha_; 00138 std::string tf_prefix_; 00139 00140 BoolPropertyWPtr visual_enabled_property_; 00141 BoolPropertyWPtr collision_enabled_property_; 00142 FloatPropertyWPtr update_rate_property_; 00143 StringPropertyWPtr robot_description_property_; 00144 FloatPropertyWPtr alpha_property_; 00145 StringPropertyWPtr tf_prefix_property_; 00146 00147 std::string robot_description_; 00148 00149 bool hidden_; 00150 }; 00151 00152 } // namespace rviz 00153 00154 #endif 00155