marker_base.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_MARKER_BASE_H
#define RVIZ_MARKER_BASE_H
 
#include <rviz/selection/forwards.h>
#include <rviz/interactive_object.h>
 
#include <visualization_msgs/Marker.h>
 
#include <ros/time.h>
 
#include <boost/shared_ptr.hpp>
 
#include <OgrePrerequisites.h>
 
namespace rviz
{
class DisplayContext;
class MarkerDisplay;
class MarkerSelectionHandler;
 
typedef std::pair<std::string, int32_t> MarkerID;
typedef std::set<Ogre::MaterialPtr> S_MaterialPtr;
 
class MarkerBase
{
public:
  typedef visualization_msgs::Marker Marker;
  typedef visualization_msgs::Marker::ConstPtr MarkerConstPtr;
 
  MarkerBase(MarkerDisplay* owner, DisplayContext* context, Ogre::SceneNode* parent_node);
 
  virtual ~MarkerBase();
 
  void setMessage(const Marker& message);
  void setMessage(const MarkerConstPtr& message);
  bool expired();
 
  void updateFrameLocked();
 
  const MarkerConstPtr& getMessage() const
  {
    return message_;
  }
 
  MarkerID getID()
  {
    return MarkerID(message_->ns, message_->id);
  }
  std::string getStringID()
  {
    std::stringstream ss;
    ss << message_->ns << "/" << message_->id;
    return ss.str();
  }
 
  void setInteractiveObject(InteractiveObjectWPtr object);
 
  virtual void setPosition(const Ogre::Vector3& position);
  virtual void setOrientation(const Ogre::Quaternion& orientation);
  const Ogre::Vector3& getPosition() const;
  const Ogre::Quaternion& getOrientation() const;
 
  virtual S_MaterialPtr getMaterials()
  {
    return S_MaterialPtr();
  }
 
protected:
  bool transform(const MarkerConstPtr& message,
                 Ogre::Vector3& pos,
                 Ogre::Quaternion& orient,
                 Ogre::Vector3& scale);
  virtual void onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message) = 0;
 
  void extractMaterials(Ogre::Entity* entity, S_MaterialPtr& materials);
 
  MarkerDisplay* owner_;
  DisplayContext* context_;
 
  Ogre::SceneNode* scene_node_;
 
  MarkerConstPtr message_;
 
  ros::Time expiration_;
 
  boost::shared_ptr<MarkerSelectionHandler> handler_;
};
typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
 
} // namespace rviz
 
#endif