00001 /* 00002 * Copyright (c) 2013, 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 LINE_H_ 00031 #define LINE_H_ 00032 00033 #include "object.h" 00034 00035 #include <OGRE/OgreSceneNode.h> 00036 #include <OGRE/OgreMaterial.h> 00037 00038 namespace Ogre 00039 { 00040 class SceneManager; 00041 class SceneNode; 00042 class Vector3; 00043 class Quaternion; 00044 class Any; 00045 class ColourValue; 00046 } 00047 00048 namespace rviz 00049 { 00050 00051 /* Represents a straight wireframe line between two points. */ 00052 class Line: public Object 00053 { 00054 public: 00060 Line( Ogre::SceneManager* manager, Ogre::SceneNode* parent_node = NULL ); 00061 00062 virtual ~Line(); 00063 00069 void setPoints( Ogre::Vector3 start, Ogre::Vector3 end ); 00070 00071 void setVisible( bool visible ); 00072 00077 virtual void setPosition( const Ogre::Vector3& position ); 00078 00083 virtual void setOrientation( const Ogre::Quaternion& orientation ); 00084 00089 virtual void setScale( const Ogre::Vector3& scale ); 00090 00097 virtual void setColor( float r, float g, float b, float a ); 00098 00103 virtual const Ogre::Vector3& getPosition(); 00108 virtual const Ogre::Quaternion& getOrientation(); 00109 00114 virtual void setUserData( const Ogre::Any& data ); 00115 00116 protected: 00117 00118 Ogre::SceneNode* scene_node_; 00119 Ogre::ManualObject* manual_object_; 00120 Ogre::MaterialPtr manual_object_material_; 00121 }; 00122 00123 } 00124 00125 #endif /* LINE_H_ */