VoronoiGraphVisual.h

Go to the documentation of this file.

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef VORONOIGRAPHVISUAL_H
#define VORONOIGRAPHVISUAL_H

#include <tuw_multi_robot_msgs/Graph.h>
#include <geometry_msgs/Vector3.h>


#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/line.h>

namespace Ogre
{
class Vector3;
class Quaternion;
}

namespace rviz
{
class Shape;
}

namespace tuw_multi_robot_rviz
{

// BEGIN_TUTORIAL
// Declare the visual class for this display.
//
// Each instance of ImuVisual represents the visualization of a single
// sensor_msgs::Imu message.  Currently it just shows an arrow with
// the direction and magnitude of the acceleration vector, but could
// easily be expanded to include more of the message data.
class VoronoiGraphVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  VoronoiGraphVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );

  // Destructor.  Removes the visual stuff from the scene.
  virtual ~VoronoiGraphVisual();

  // Configure the visual to show the data in the message.
  void setMessage( const tuw_multi_robot_msgs::Graph::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 PathVisual is
  // only responsible for visualization.
  void setFramePosition( const Ogre::Vector3& position );
  void setFrameOrientation( const Ogre::Quaternion& orientation );

  // Set the color of the visual, which is an user-editable
  // parameter and therefore don't come from the Path message.
  void setPathColor( Ogre::ColourValue color );
  void setPointScale ( float scale );
  void setPathScale ( float scale );

private:
  // The objects implementing the actual shape
  //std::vector<boost::shared_ptr<rviz::Arrow> > pathPtsTheta_;
  std::vector<boost::shared_ptr<rviz::Line> > pathLine;
  std::vector<boost::shared_ptr<rviz::Shape> > crossingShape;

  // A SceneNode whose pose is set to match the coordinate frame of
  // the Imu message header.
  Ogre::SceneNode* frame_node_;

  // The SceneManager, kept here only so the destructor can ask it to
  // destroy the ``frame_node_``.
  Ogre::SceneManager* scene_manager_;

  // The Shape object's color
  Ogre::ColourValue colorPath_;
  
  float scalePath_;
  float scalePoint_;
};
// END_TUTORIAL

} // end namespace rviz_plugin_tutorials

#endif // IMU_VISUAL_H