robot_state_visualization.h

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/*
 * Copyright (c) 2008, 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
 *       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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
#define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_

#include <moveit/robot_state/robot_state.h>
#include <moveit/rviz_plugin_render_tools/octomap_render.h>
#include <rviz/robot/robot.h>

namespace moveit_rviz_plugin
{

class RenderShapes;
typedef boost::shared_ptr<RenderShapes> RenderShapesPtr;

class RobotStateVisualization
{
public:

  RobotStateVisualization(Ogre::SceneNode* root_node, rviz::DisplayContext* context,
                              const std::string& name, rviz::Property* parent_property);

  rviz::Robot& getRobot()
  {
    return robot_;
  }

  void load(const urdf::ModelInterface &descr, bool visual = true, bool collision = true);
  void clear();

  void update(const robot_state::RobotStateConstPtr &kinematic_state);
  void update(const robot_state::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color);
  void update(const robot_state::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color,
              const std::map<std::string, std_msgs::ColorRGBA> &color_map);
  void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA &default_attached_object_color);

  void setVisible(bool visible);

  void setVisualVisible(bool visible);

  void setCollisionVisible(bool visible);

  void setAlpha(float alpha);

private:

  void updateHelper(const robot_state::RobotStateConstPtr &kinematic_state,
                    const std_msgs::ColorRGBA &default_attached_object_color,
                    const std::map<std::string, std_msgs::ColorRGBA> *color_map);
  rviz::Robot robot_;
  RenderShapesPtr render_shapes_;
  std_msgs::ColorRGBA default_attached_object_color_;
  OctreeVoxelRenderMode octree_voxel_render_mode_;
  OctreeVoxelColorMode octree_voxel_color_mode_;

  bool visible_;
  bool visual_visible_;
  bool collision_visible_;

};

typedef boost::shared_ptr<RobotStateVisualization> RobotStateVisualizationPtr;
typedef boost::shared_ptr<const RobotStateVisualization> RobotStateVisualizationConstPtr;

}

#endif