shape_marker.cpp
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00001 /*
00002  * Copyright (c) 2009, 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 #include "shape_marker.h"
00031 #include "marker_selection_handler.h"
00032 #include "rviz/default_plugin/marker_display.h"
00033 
00034 #include "rviz/display_context.h"
00035 #include "rviz/selection/selection_manager.h"
00036 
00037 #include <rviz/ogre_helpers/shape.h>
00038 
00039 #include <OgreSceneNode.h>
00040 #include <OgreMatrix3.h>
00041 
00042 namespace rviz
00043 {
00044 
00045 ShapeMarker::ShapeMarker( MarkerDisplay* owner,
00046                           DisplayContext* context,
00047                           Ogre::SceneNode* parent_node )
00048   : MarkerBase( owner, context, parent_node )
00049   , shape_( 0 )
00050 {
00051 }
00052 
00053 ShapeMarker::~ShapeMarker()
00054 {
00055   delete shape_;
00056 }
00057 
00058 void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
00059     const MarkerConstPtr& new_message )
00060 {
00061   if (!shape_ || old_message->type != new_message->type)
00062   {
00063     delete shape_;
00064     shape_ = 0;
00065 
00066     Shape::Type shape_type = Shape::Cube;
00067     switch( new_message->type )
00068     {
00069     case visualization_msgs::Marker::CUBE:     shape_type = Shape::Cube;     break;
00070     case visualization_msgs::Marker::CYLINDER: shape_type = Shape::Cylinder; break;
00071     case visualization_msgs::Marker::SPHERE:   shape_type = Shape::Sphere;   break;
00072     default:
00073       ROS_BREAK();
00074       break;
00075     }
00076     shape_ = new Shape( shape_type, context_->getSceneManager(), scene_node_ );
00077 
00078     handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
00079     handler_->addTrackedObjects( shape_->getRootNode() );
00080   }
00081 
00082   Ogre::Vector3 pos, scale, scale_correct;
00083   Ogre::Quaternion orient;
00084   transform(new_message, pos, orient, scale);
00085 
00086   if (owner_ && (new_message->scale.x * new_message->scale.y
00087       * new_message->scale.z == 0.0f))
00088   {
00089     owner_->setMarkerStatus(getID(), StatusProperty::Warn,
00090         "Scale of 0 in one of x/y/z");
00091   }
00092 
00093   setPosition(pos);
00094   setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
00095 
00096   scale_correct = Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) * scale;
00097 
00098   shape_->setScale(scale_correct);
00099 
00100   shape_->setColor(new_message->color.r, new_message->color.g,
00101       new_message->color.b, new_message->color.a);
00102 }
00103 
00104 S_MaterialPtr ShapeMarker::getMaterials()
00105 {
00106   S_MaterialPtr materials;
00107   extractMaterials(shape_->getEntity(), materials);
00108   return materials;
00109 }
00110 
00111 }


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:28