katana_object_manipulator: shape_tools.cpp Source File

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00001 /*********************************************************************
00002 *
00003 *  Copyright (c) 2011, Willow Garage, Inc.
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00033 
00034 #include <ros/ros.h>
00035 
00036 #include <visualization_msgs/Marker.h>
00037 #include <visualization_msgs/MarkerArray.h>
00038 
00039 #include "object_manipulator/tools/msg_helpers.h"
00040 #include "object_manipulator/tools/shape_tools.h"
00041 
00042 namespace object_manipulator {
00043 
00044 void drawCylinder (ros::Publisher &pub, const shapes::Cylinder &shape, const char *ns,
00045               int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
00046 {
00047     visualization_msgs::Marker marker;
00048     marker.header = shape.header;
00049     marker.ns = ns;
00050     marker.id = id;
00051     marker.type = visualization_msgs::Marker::CYLINDER; // CUBE, SPHERE, ARROW, CYLINDER
00052     marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
00053     tf::poseTFToMsg(shape.frame, marker.pose);
00054     tf::vector3TFToMsg(shape.dims, marker.scale);
00055     marker.color = color;
00056     marker.lifetime = lifetime;
00057     marker.frame_locked = frame_locked;
00058     pub.publish(marker);
00059 }
00060 
00061 void drawBox (ros::Publisher &pub, const shapes::Box &shape, const char *ns,
00062               int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
00063 {
00064     visualization_msgs::Marker marker;
00065     marker.header = shape.header;
00066     marker.ns = ns;
00067     marker.id = id;
00068     marker.type = visualization_msgs::Marker::CUBE; // CUBE, SPHERE, ARROW, CYLINDER
00069     marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
00070     tf::poseTFToMsg(shape.frame, marker.pose);
00071     tf::vector3TFToMsg(shape.dims, marker.scale);
00072     marker.color = color;
00073     marker.lifetime = lifetime;
00074     marker.frame_locked = frame_locked;
00075     pub.publish(marker);
00076 }
00077 
00078 void drawSphere (ros::Publisher &pub, const shapes::Sphere &shape, const char *ns,
00079               int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
00080 {
00081     visualization_msgs::Marker marker;
00082     marker.header = shape.header;
00083     marker.ns = ns;
00084     marker.id = id;
00085     marker.type = visualization_msgs::Marker::SPHERE; // CUBE, SPHERE, ARROW, CYLINDER
00086     marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
00087     tf::poseTFToMsg(shape.frame, marker.pose);
00088     tf::vector3TFToMsg(shape.dims, marker.scale);
00089     marker.color = color;
00090     marker.lifetime = lifetime;
00091     marker.frame_locked = frame_locked;
00092     pub.publish(marker);
00093 }
00094 
00095 void drawMesh (ros::Publisher &pub, const shapes::Mesh &shape, const char *ns,
00096               int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
00097 {
00098     visualization_msgs::Marker marker;
00099     marker.header = shape.header;
00100     marker.ns = ns;
00101     marker.id = id;
00102     marker.type = visualization_msgs::Marker::MESH_RESOURCE; // CUBE, SPHERE, ARROW, CYLINDER
00103     marker.mesh_resource = shape.mesh_resource;
00104     marker.mesh_use_embedded_materials = shape.use_embedded_materials;
00105     marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
00106     tf::poseTFToMsg(shape.frame, marker.pose);
00107     tf::vector3TFToMsg(shape.dims, marker.scale);
00108     marker.color = color;
00109     marker.lifetime = lifetime;
00110     marker.frame_locked = frame_locked;
00111     pub.publish(marker);
00112 }
00113 
00114 } // namespace object_manipulator