line_strip_marker.cpp

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/*
 * Copyright (c) 2009, 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.
 */
 
#include "line_strip_marker.h"
 
#include "marker_selection_handler.h"
#include <rviz/default_plugin/marker_display.h>
#include <rviz/display_context.h>
#include <rviz/validate_floats.h>
 
#include <rviz/ogre_helpers/billboard_line.h>
 
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
#include <OgreSceneNode.h>
 
namespace rviz
{
LineStripMarker::LineStripMarker(MarkerDisplay* owner,
                                 DisplayContext* context,
                                 Ogre::SceneNode* parent_node)
  : MarkerBase(owner, context, parent_node), lines_(nullptr)
{
}
 
LineStripMarker::~LineStripMarker()
{
  delete lines_;
}
 
void LineStripMarker::onNewMessage(const MarkerConstPtr& /*old_message*/,
                                   const MarkerConstPtr& new_message)
{
  ROS_ASSERT(new_message->type == visualization_msgs::Marker::LINE_STRIP);
 
  if (!lines_)
  {
    lines_ = new BillboardLine(context_->getSceneManager(), scene_node_);
  }
 
  Ogre::Vector3 pos, scale;
  Ogre::Quaternion orient;
  if (!transform(new_message, pos, orient, scale))
  {
    scene_node_->setVisible(false);
    return;
  }
 
  scene_node_->setVisible(true);
  setPosition(pos);
  setOrientation(orient);
  lines_->setScale(scale);
  lines_->setColor(new_message->color.r, new_message->color.g, new_message->color.b,
                   new_message->color.a);
 
  lines_->clear();
  if (new_message->points.empty())
  {
    return;
  }
 
  lines_->setLineWidth(new_message->scale.x);
  lines_->setMaxPointsPerLine(new_message->points.size());
 
  bool has_per_point_color = new_message->colors.size() == new_message->points.size();
 
  size_t i = 0;
  std::vector<geometry_msgs::Point>::const_iterator it = new_message->points.begin();
  std::vector<geometry_msgs::Point>::const_iterator end = new_message->points.end();
  for (; it != end; ++it, ++i)
  {
    const geometry_msgs::Point& p = *it;
 
    Ogre::Vector3 v(p.x, p.y, p.z);
    if (!validateFloats(p))
    {
      ROS_WARN("Marker '%s/%d': invalid point[%zu] (%.2f, %.2f, %.2f)", new_message->ns.c_str(),
               new_message->id, i, p.x, p.y, p.z);
      continue;
    }
 
    Ogre::ColourValue c;
    if (has_per_point_color)
    {
      const std_msgs::ColorRGBA& color = new_message->colors[i];
      if (!validateFloats(color))
      {
        ROS_WARN("Marker '%s/%d': invalid color[%zu] (%.2f, %.2f, %.2f, %.2f)", new_message->ns.c_str(),
                 new_message->id, i, color.r, color.g, color.b, color.a);
        continue;
      }
      c.r = color.r;
      c.g = color.g;
      c.b = color.b;
      c.a = color.a;
    }
    else
    {
      c.r = new_message->color.r;
      c.g = new_message->color.g;
      c.b = new_message->color.b;
      c.a = new_message->color.a;
    }
 
    lines_->addPoint(v, c);
  }
 
  handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
  handler_->addTrackedObjects(lines_->getSceneNode());
}
 
S_MaterialPtr LineStripMarker::getMaterials()
{
  S_MaterialPtr materials;
  materials.insert(lines_->getMaterial());
  return materials;
}
 
} // namespace rviz