DrawLineHandler.h
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00001 
00002 
00003 #pragma once
00004 
00005 #include <vrep_ros_plugin/GenericObjectHandler.h>
00006 #include <geometry_msgs/PolygonStamped.h>
00007 
00008 class DrawLineHandler : public GenericObjectHandler
00009 {
00010 public:
00011         DrawLineHandler();
00012         ~DrawLineHandler();
00013 
00017         void synchronize();
00018 
00022         bool endOfSimulation();
00023 
00027         void handleSimulation();
00028 
00032         unsigned int getObjectType() const;
00033 
00034         static const unsigned int DRAWING_DATA_MAIN; 
00035         static const unsigned int DRAWING_DATA_WIDTH; 
00036         static const unsigned int DRAWING_DATA_DIFFUSE; 
00037         static const unsigned int DRAWING_DATA_SPECULAR; 
00038         static const unsigned int DRAWING_DATA_EMISSION; 
00039         static const unsigned int DRAWING_DATA_MARKERS; 
00040         static const unsigned int DRAWING_DATA_MARKERS_DIFFUSE; 
00041         static const unsigned int DRAWING_DATA_MARKERS_SPECULAR; 
00042         static const unsigned int DRAWING_DATA_MARKERS_EMISSION; 
00043 
00044 protected:
00045 
00049         void registerCustomVariables() const;
00050 
00054         void _initialize();
00055 
00059         ros::Subscriber _sub;
00060 
00064         geometry_msgs::PolygonStampedConstPtr _line;
00065 
00069         void lineCallback(geometry_msgs::PolygonStampedConstPtr msg);
00070 
00074         simFloat _lastTime;
00075 
00079         simFloat _frequency;
00080 
00084         simInt _drawingObject;
00085 
00086 
00087         simInt _width; 
00088         simFloat _diffuse[3]; 
00089         simFloat _specular[3]; 
00090         simFloat _emission[3]; 
00091 };


drawing_handler
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Sat Jun 8 2019 20:22:48