mesh_object.h
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00001 /*
00002  * Copyright (c) 2011, 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 MESH_OBJECT_CPP_
00031 #define MESH_OBJECT_CPP_
00032 
00033 #include <shape_msgs/Mesh.h>
00034 #include <geometry_msgs/Pose.h>
00035 #include <geometry_msgs/Point32.h>
00036 
00037 #include <OGRE/OgrePrerequisites.h>
00038 #include <OGRE/OgreEntity.h>
00039 
00040 #include <string>
00041 
00042 namespace rviz_interaction_tools
00043 {
00044 
00045 // holds a mesh constructed from a Shape message or a list of points
00046 class MeshObject
00047 {
00048 
00049 public:
00050 
00051   struct Point {
00052     float x,y,z;
00053     float r,g,b,a;
00054   };
00055 
00056   MeshObject( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root );
00057 
00058   ~MeshObject();
00059 
00060   void setPose( const geometry_msgs::Pose& pose );
00061 
00062   void loadMesh( std::string name, const shape_msgs::Mesh& mesh );
00063 
00064   //load mesh from a list of points, assuming that 3 consecutive points form a triangle
00065   void loadPoints( std::string name, const std::vector< geometry_msgs::Point32 > &points );
00066 
00067   void loadMesh( std::string name, const std::vector< Point > &vertices,
00068       const std::vector<unsigned> triangles = std::vector<unsigned>() );
00069 
00070   void setVisible( bool visible );
00071 
00072   void setMaterialName( std::string name );
00073 
00074   Ogre::Entity* getEntity() { return entity_; }
00075 
00076   void clear();
00077 
00078 private:
00079 
00080   MeshObject( const MeshObject& );
00081   MeshObject& operator=( const MeshObject& );
00082 
00083   Ogre::SceneNode *scene_node_;
00084   Ogre::MeshPtr mesh_ptr_;
00085   Ogre::Entity* entity_;
00086 
00087   Ogre::SceneManager* scene_manager_;
00088   Ogre::SceneNode* scene_root_;
00089 };
00090 
00091 }
00092 
00093 #endif /* MESH_OBJECT_CPP_ */
00094 


rviz_interaction_tools
Author(s): David Gossow
autogenerated on Mon Oct 6 2014 03:03:25