invisible_robot_display.cpp

Go to the documentation of this file.

/*
 * 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:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "pr2_interactive_manipulation/invisible_robot_display.h"

#include <rviz/robot/robot_link.h>
#include <rviz/robot/robot.h>
#include <rviz/properties/float_property.h>

namespace pr2_interactive_manipulation
{

InvisibleRobotDisplay::InvisibleRobotDisplay()
{
}

InvisibleRobotDisplay::~InvisibleRobotDisplay()
{
}

void InvisibleRobotDisplay::onInitialize()
{
  RobotModelDisplay::onInitialize();
  alpha_property_->setHidden(true);
}

void InvisibleRobotDisplay::load()
{
  RobotModelDisplay::load();

  std::map< std::string, rviz::RobotLink* > links = robot_->getLinks();

  std::map< std::string, rviz::RobotLink* >::iterator it;
  for( it=links.begin(); it!=links.end(); it++ )
  {
    it->second->setOnlyRenderDepth(true);
  }
}

}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(pr2_interactive_manipulation::InvisibleRobotDisplay,rviz::Display )