marker_with_covariance_array_visual.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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#ifndef MARKER_WITH_COVARIANCE_ARRAY_VISUAL_H
#define MARKER_WITH_COVARIANCE_ARRAY_VISUAL_H

#include <marker_msgs/MarkerWithCovarianceArray.h>
#include "ogre_visuals/marker.h"
#include "ogre_visuals/marker_with_covariance.h"

namespace Ogre {
    class Vector3;

    class Quaternion;
}

namespace rviz {
    class Axes;
}

namespace marker_rviz_plugin {

    class MarkerWithCovarianceArrayVisual {
    public:
        MarkerWithCovarianceArrayVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node);

        virtual ~MarkerWithCovarianceArrayVisual();

        // Configure the visual to show the data in the message.
        void setMessage(const marker_msgs::MarkerWithCovarianceArray::ConstPtr &msg);

        // Set the pose of the coordinate frame the message refers to.
        // These could be done inside setMessage(), but that would require
        // calls to FrameManager and error handling inside setMessage(),
        // which doesn't seem as clean.  This way MarkerDetectionVisual is
        // only responsible for visualization.
        void setFramePosition(const Ogre::Vector3 &position);

        void setFrameOrientation(const Ogre::Quaternion &orientation);

        void setShowAxes(bool showAxes);

        void setShowMarker(bool showMarker);

        void setShowLabel(bool showLabel);

        void setScale(float scale);

    private:
        std::vector<boost::shared_ptr<Marker> > _markers;

        Ogre::SceneNode *frame_node_;
        Ogre::SceneManager *scene_manager_;

        bool _showAxes;
        bool _showMarker;
        bool _showLabel;
        float _scale;
    };

} // end namespace marker_rviz_plugin

#endif // MARKER_WITH_COVARIANCE_ARRAY_VISUAL_H