urdf_renderer.h
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00001 /* 
00002  * Copyright (c) 2011, Nico Blodow <blodow@cs.tum.edu>
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Intelligent Autonomous Systems Group/
00014  *       Technische Universitaet Muenchen nor the names of its contributors 
00015  *       may be used to endorse or promote products derived from this software 
00016  *       without specific prior written permission.
00017  * 
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 #ifndef REALTIME_URDF_FILTER_URDF_RENDERER_H_
00032 #define REALTIME_URDF_FILTER_URDF_RENDERER_H_
00033 
00034 #include <urdf/model.h>
00035 #include <tf/transform_listener.h>
00036 #include <realtime_urdf_filter/renderable.h>
00037 
00038 // forward declares
00039 namespace ros {class NodeHandle;}
00040 
00041 namespace realtime_urdf_filter
00042 {
00043 
00044 class URDFRenderer
00045 { 
00046   public:
00047     URDFRenderer (std::string model_description, std::string tf_prefix, std::string cam_frame, std::string fixed_frame, tf::TransformListener &tf);
00048     void render ();
00049 
00050   protected:
00051     void initURDFModel ();
00052     void loadURDFModel (urdf::Model &descr);
00053     void process_link (boost::shared_ptr<urdf::Link> link);
00054     void update_link_transforms ();
00055 
00056     // urdf model stuff
00057     std::string model_description_;
00058     std::string tf_prefix_;
00059     
00060     // camera stuff
00061     std::string camera_frame_;
00062     std::string fixed_frame_;
00063    
00064     // rendering stuff 
00065     std::vector<boost::shared_ptr<Renderable> > renderables_;
00066     tf::TransformListener &tf_;
00067 };
00068 
00069 } // end namespace
00070 
00071 #endif
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realtime_urdf_filter
Author(s): Nico Blodow
autogenerated on Thu May 23 2013 16:50:36