VoronoiGraphVisual.h
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29 
30 #ifndef VORONOIGRAPHVISUAL_H
31 #define VORONOIGRAPHVISUAL_H
32 
33 #include <tuw_multi_robot_msgs/Graph.h>
34 #include <geometry_msgs/Vector3.h>
35 
36 
39 #include <rviz/ogre_helpers/line.h>
40 
41 namespace Ogre
42 {
43 class Vector3;
44 class Quaternion;
45 }
46 
47 namespace rviz
48 {
49 class Shape;
50 }
51 
52 namespace tuw_multi_robot_rviz
53 {
54 
55 // BEGIN_TUTORIAL
56 // Declare the visual class for this display.
57 //
58 // Each instance of ImuVisual represents the visualization of a single
59 // sensor_msgs::Imu message. Currently it just shows an arrow with
60 // the direction and magnitude of the acceleration vector, but could
61 // easily be expanded to include more of the message data.
63 {
64 public:
65  // Constructor. Creates the visual stuff and puts it into the
66  // scene, but in an unconfigured state.
67  VoronoiGraphVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
68 
69  // Destructor. Removes the visual stuff from the scene.
70  virtual ~VoronoiGraphVisual();
71 
72  // Configure the visual to show the data in the message.
73  void setMessage( const tuw_multi_robot_msgs::Graph::ConstPtr& msg );
74 
75  // Set the pose of the coordinate frame the message refers to.
76  // These could be done inside setMessage(), but that would require
77  // calls to FrameManager and error handling inside setMessage(),
78  // which doesn't seem as clean. This way PathVisual is
79  // only responsible for visualization.
80  void setFramePosition( const Ogre::Vector3& position );
81  void setFrameOrientation( const Ogre::Quaternion& orientation );
82 
83  // Set the color of the visual, which is an user-editable
84  // parameter and therefore don't come from the Path message.
85  void setPathColor( Ogre::ColourValue color );
86  void setPointScale ( float scale );
87  void setPathScale ( float scale );
88 
89 private:
90  // The objects implementing the actual shape
91  //std::vector<boost::shared_ptr<rviz::Arrow> > pathPtsTheta_;
92  std::vector<boost::shared_ptr<rviz::Line> > pathLine;
93  std::vector<boost::shared_ptr<rviz::Shape> > crossingShape;
94 
95  // A SceneNode whose pose is set to match the coordinate frame of
96  // the Imu message header.
97  Ogre::SceneNode* frame_node_;
98 
99  // The SceneManager, kept here only so the destructor can ask it to
100  // destroy the ``frame_node_``.
101  Ogre::SceneManager* scene_manager_;
102 
103  // The Shape object's color
104  Ogre::ColourValue colorPath_;
105 
106  float scalePath_;
107  float scalePoint_;
108 };
109 // END_TUTORIAL
110 
111 } // end namespace rviz_plugin_tutorials
112 
113 #endif // IMU_VISUAL_H
std::vector< boost::shared_ptr< rviz::Shape > > crossingShape
TFSIMD_FORCE_INLINE Vector3()
std::vector< boost::shared_ptr< rviz::Line > > pathLine


tuw_multi_robot_rviz
Author(s): Benjamin Binder
autogenerated on Mon Jun 10 2019 15:42:40