SplineVisual.h

Go to the documentation of this file.

/***************************************************************************
 *   Software License Agreement (BSD License)                              *
 *   Copyright (C) 2016 by George Todoran <george.todoran@tuwien.ac.at>        *
 *                                                                         *
 *   Redistribution and use in source and binary forms, with or without    *
 *   modification, are permitted provided that the following conditions    *
 *   are met:                                                              *
 *                                                                         *
 *   1. Redistributions of source code must retain the above copyright     *
 *      notice, this list of conditions and the following disclaimer.      *
 *   2. 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.                                                      *
 *   3. Neither the name of the copyright holder 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 HOLDER 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 SPLINE_VISUAL_H
#define SPLINE_VISUAL_H

#include <tuw_nav_msgs/Spline.h>
#include <rviz/ogre_helpers/shape.h>
#include <eigen3/unsupported/Eigen/Splines>
#include <rviz/ogre_helpers/arrow.h>
#include <tuw_control/state/state_sim_template.hpp>

namespace Ogre
{
class Vector3;
class Quaternion;
}

namespace rviz
{
class Shape;
}

namespace tuw {
class MetricSplineSim : public StateSimTemplate<2,1> {

    public   : enum class StateVars    { SIGMA, ARC, ENUM_SIZE }; 
    public   : enum class StateNmVars  { SIGMA, ENUM_SIZE }; 
    public   : enum class StateCfVars  { ARC, ENUM_SIZE }; 

    public   : MetricSplineSim(boost::shared_ptr<Eigen::Spline3d> _funcs);

    public   : StateSimUPtr     cloneStateSim  () const override;
    public   : double           stateArc       () const override;
    public   : double           stateDist      () const override;
    public   : ParamFuncs*      paramFuncs     () override;
    public   : ParamFuncsDist*  paramFuncsDist () override;

    private  : void             setStateCf     ( const double& _arc, const ParamFuncs::EvalArcGuarantee& _evalArcGuarantee = ParamFuncs::EvalArcGuarantee::AFTER_LAST  ) override;
    private  : State&           stateNmDelta   ( const double& _dArc ) override { throw "not implemented"; }
    private  : State&           stateNmDot     ()                      override;

    private  : boost::shared_ptr<Eigen::Spline3d> spline3d_;
};
}

namespace tuw_nav_rviz
{

// Declare the visual class for this display.
class SplineVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  SplineVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );

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

  // Configure the visual to show the data in the message.
  void setMessage( const tuw_nav_msgs::Spline::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 SplineVisual 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 MarkerDetection message.
  void setPathColor( Ogre::ColourValue color );
  void setOrientColor( Ogre::ColourValue color );

  // Set the shape of the visual, which is an user-editable
  // parameter and therefore don't come from the MarkerDetection message.
  void setShape( rviz::Shape::Type shape_type );

  // Set the scale of the visual, which is an user-editable
  // parameter and therefore don't come from the MarkerDetection message.
  void setPathScale  ( float scale );
  void setOrientScale( float scale );
  
  void setPathDs   ( float _ds );
  void setOrientDs ( float _ds );

private:
  // The objects implementing the actual shape
  std::vector<boost::shared_ptr<rviz::Shape> > splinePtsXY_;
  std::vector<boost::shared_ptr<rviz::Arrow> > splinePtsTheta_;
  
  boost::shared_ptr<Eigen::Spline3d> spline_;
  std::shared_ptr<tuw::MetricSplineSim> metricSplineSim_;
  std::vector<double> sigmaXYLattice_;
  std::vector<double> sigmaThetaLattice_;

  // 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_;
  Ogre::ColourValue colorOrient_;
  
  // The Shape object's shape type
  rviz::Shape::Type shape_type_;
  
  // The Shape object's scale
  float scalePath_;
  float scaleOrient_;
  
  float dsPathXY_;
  float dsPathTheta_;
};

} // end namespace tuw_nav_rviz

#endif // SPLINE_VISUAL_H