points.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2010, 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 <rve_render_client/points.h>
#include <rve_render_client/material.h>
#include <rve_render_client/scene.h>

#include <rve_msgs/Points.h>
#include <rve_interfaces/Points.h>

#include <boost/bind.hpp>

namespace rve_render_client
{

PointsPtr createPoints(const rve_msgs::PointsConstPtr& points)
{
  PointsPtr inst(new Points(points), destroySceneObject);
  return inst;
}

PointsPtr createPoints(Scene* scene, const rve_msgs::PointsConstPtr& points)
{
  PointsPtr inst = createPoints(points);
  scene->addObject(inst.get());
  return inst;
}

Points::Points(const rve_msgs::PointsConstPtr& points)
: points_(points)
{
  proxy_index_ = addProxy("points");
}

Points::~Points()
{
}

rve_interfaces::PointsProxy* Points::getProxy(const ContextInfo& context)
{
  return SceneObject::getProxy<rve_interfaces::PointsProxy>(context, proxy_index_);
}

void Points::doCreate(ContextInfo& context)
{
  rve_interfaces::PointsProxy* proxy = getProxy(context);
  proxy->create(getSceneID(context.scene), getID(), *points_);
}

void Points::doDestroy(ContextInfo& context)
{
  rve_interfaces::PointsProxy* proxy = getProxy(context);
  proxy->destroy(getSceneID(context.scene), getID());
}

#define POINTS_MULTIPLEX(func, ...) \
    multiplex<rve_interfaces::PointsProxy>(boost::bind(&rve_interfaces::PointsProxy::func, _1, _2, getID(), __VA_ARGS__), proxy_index_);


} // namespace rviz_render_client