points_manager.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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#include <rve_render_server/batching/points_manager.h>
#include <rve_render_server/convert.h>

#include <rve_msgs/Points.h>

namespace rve_render_server
{

PointsManager::PointsManager(Ogre::SceneManager* scene_manager)
: Parent(scene_manager)
{

}

PointsManager::~PointsManager()
{
}

PointsRendererDesc PointsManager::createDescription(const rve_msgs::Points& points)
{
  PointsRendererDesc desc;
  desc.type = points.type;
  desc.scale.x = points.scale.x;
  desc.scale.y = points.scale.y;
  desc.scale.z = points.scale.z;
  desc.scale = scaleFromRobot(desc.scale);
  desc.has_normals = !points.normals.empty();
  desc.has_orientations = !points.orientations.empty();
  desc.has_scales = !points.scales.empty();

  ROS_ASSERT(!(desc.has_normals && desc.has_orientations));

  if (desc.type == rve_msgs::Points::TYPE_BOXES && desc.has_normals)
  {
    desc.has_orientations = true;
    desc.has_normals = false;
  }

  return desc;
}


} // namespace rve_render_server