but_distance_circular_indicator.h

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/******************************************************************************
 * \file
 *
 * $Id: but_distance_circular_indicator.h 1002 2012-07-18 14:45:22Z xlokaj03 $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Tomas Lokaj (xlokaj03@stud.fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 11/04/2012
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once
#ifndef BUT_DISTANCE_CIRCULAR_INDICATOR_H_
#define BUT_DISTANCE_CIRCULAR_INDICATOR_H_

#include <rviz/display.h>
#include <rviz/view_controller.h>
#include "rviz/properties/forwards.h"
#include "rviz/properties/property.h"
#include "rviz/properties/edit_enum_property.h"
#include "rviz/properties/property_manager.h"
#include <rviz/visualization_manager.h>
#include <rviz/frame_manager.h>
#include "rviz/helpers/color.h"
#include <rviz/render_panel.h>
#include <rviz/window_manager_interface.h>

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreMaterial.h>
#include <OGRE/OgreMaterialManager.h>
#include <ogre_tools/movable_text.h>

#include <math.h>

#include <srs_ui_but/but_ogre_tools/static_text.h>

namespace srs_ui_but
{

class CButDistanceCircularIndicator : public rviz::Display

{
public:
  CButDistanceCircularIndicator(const std::string & name, rviz::VisualizationManager * manager);

  virtual ~CButDistanceCircularIndicator();

  virtual void targetFrameChanged()
  {
  }
  virtual void fixedFrameChanged()
  {
  }

  virtual void createProperties();

  virtual void update(float wall_dt, float ros_dt);

protected:
  bool createGeometry();

  void destroyGeometry();

  virtual void onEnable();

  virtual void onDisable();

  const std::string getLinkString()
  {
    return robot_link_;
  }

  Ogre::Vector3 getOrientation()
  {
    return orientation_;
  }

  rviz::Color getColor()
  {
    return color_;
  }

  float getAlpha()
  {
    return alpha_;
  }

  float getThickness()
  {
    return thickness_;
  }

  int getLevels()
  {
    return levels_;
  }

  float getRadius()
  {
    return radius_;
  }

  bool getShowDistance()
  {
    return show_distance_;
  }

  void setLinkString(std::string link)
  {
    if (isEnabled())
      m_sceneNode_->setVisible(true);
    robot_link_ = link;
    propertyChanged(m_property_link_);
  }

  void setOrientation(Ogre::Vector3 orientation)
  {
    orientation_ = orientation;
    propertyChanged(m_property_orientation_);
  }

  void setColor(rviz::Color color)
  {
    color_ = color;
    material_->getTechnique(0)->setAmbient(color_.r_, color_.g_, color_.b_);
    propertyChanged(m_property_color_);
  }

  void setAlpha(float alpha)
  {
    alpha_ = alpha;
    //material_->getTechnique(0)->setAmbient(color_.r_, color_.g_, color_.b_);
    material_->getTechnique(0)->setDiffuse(color_.r_, color_.g_, color_.b_, alpha_);
    propertyChanged(m_property_alpha_);
  }

  void setThickness(float thickness)
  {
    thickness_ = thickness;
    propertyChanged(m_property_thickness_);
  }

  void setShowDistance(bool show_distance)
  {
    show_distance_ = show_distance;
    propertyChanged(m_property_show_distance_);
  }

  void setLevels(int levels)
  {
    if (levels < 1)
      levels_ = 1;
    else
      levels_ = levels;
    propertyChanged(m_property_levels_);
  }

  void setRadius(float radius)
  {
    radius_ = radius;
    propertyChanged(m_property_radius_);
  }

  // Link
  std::string robot_link_;

  // Scene node
  Ogre::SceneNode * m_sceneNode_, *m_sceneNode_flipped_;

  // Geometry manual object
  Ogre::ManualObject * circle_manual_object_;

  // Material
  Ogre::MaterialPtr material_;

  // Display properties
  rviz::ColorPropertyWPtr m_property_color_;
  rviz::TFFramePropertyWPtr m_property_link_;
  rviz::FloatPropertyWPtr m_property_alpha_, m_property_thickness_, m_property_radius_;
  rviz::IntPropertyWPtr m_property_levels_;
  rviz::BoolPropertyWPtr m_property_show_distance_;
  rviz::Vector3PropertyWPtr m_property_orientation_;

  // Rotation properties
  Ogre::Vector3 orientation_;

  // Circle properties
  float radius_, thickness_, accuracy_;
  unsigned int levels_;

  // Line color
  rviz::Color color_;

  // Line aplha
  float alpha_;

  bool show_distance_;

};

} // namespace srs_ui_but

#endif /* BUT_DISTANCE_CIRCULAR_INDICATOR_H_ */