marker_base.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
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 Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "marker_base.h"
00031 #include "rviz/default_plugin/marker_display.h"
00032 #include "rviz/visualization_manager.h"
00033 #include "rviz/selection/selection_manager.h"
00034 #include "marker_selection_handler.h"
00035 #include "rviz/frame_manager.h"
00036 
00037 #include <OGRE/OgreSceneNode.h>
00038 #include <OGRE/OgreSceneManager.h>
00039 #include <OGRE/OgreEntity.h>
00040 #include <OGRE/OgreSubEntity.h>
00041 
00042 #include <tf/tf.h>
00043 #include <tf/transform_listener.h>
00044 
00045 namespace rviz
00046 {
00047 
00048 MarkerBase::MarkerBase(MarkerDisplay* owner, VisualizationManager* manager, Ogre::SceneNode* parent_node)
00049 : owner_(owner)
00050 , vis_manager_(manager)
00051 , scene_node_(parent_node->createChildSceneNode())
00052 , coll_(0)
00053 {}
00054 
00055 MarkerBase::~MarkerBase()
00056 {
00057   vis_manager_->getSelectionManager()->removeObject(coll_);
00058   vis_manager_->getSceneManager()->destroySceneNode(scene_node_);
00059 }
00060 
00061 void MarkerBase::setMessage(const Marker& message)
00062 {
00063   // copy and save to shared pointer
00064   MarkerConstPtr message_ptr( new Marker(message) );
00065   setMessage( message_ptr );
00066 }
00067 
00068 void MarkerBase::setMessage(const MarkerConstPtr& message)
00069 {
00070   MarkerConstPtr old = message_;
00071   message_ = message;
00072 
00073   expiration_ = ros::Time::now() + message->lifetime;
00074 
00075   onNewMessage(old, message);
00076 }
00077 
00078 void MarkerBase::updateFrameLocked()
00079 {
00080   ROS_ASSERT(message_ && message_->frame_locked);
00081   onNewMessage(message_, message_);
00082 }
00083 
00084 bool MarkerBase::expired()
00085 {
00086   return ros::Time::now() >= expiration_;
00087 }
00088 
00089 bool MarkerBase::transform(const MarkerConstPtr& message, Ogre::Vector3& pos, Ogre::Quaternion& orient, Ogre::Vector3& scale)
00090 {
00091   ros::Time stamp = message->header.stamp;
00092   if (message->frame_locked)
00093   {
00094     stamp = ros::Time();
00095   }
00096 
00097   if (!FrameManager::instance()->transform(message->header.frame_id, stamp, message->pose, pos, orient))
00098   {
00099     std::string error;
00100     FrameManager::instance()->transformHasProblems(message->header.frame_id, message->header.stamp, error);
00101     if ( owner_ )
00102     {
00103       owner_->setMarkerStatus(getID(), status_levels::Error, error);
00104     }
00105     return false;
00106   }
00107 
00108   scale = Ogre::Vector3(message->scale.x, message->scale.y, message->scale.z);
00109 
00110   return true;
00111 }
00112 
00113 void MarkerBase::setInteractiveObject( InteractiveObjectWPtr control )
00114 {
00115   SelectionHandlerPtr handler = vis_manager_->getSelectionManager()->getHandler( coll_ );
00116   if( handler )
00117   {
00118     handler->setInteractiveObject( control );
00119   }
00120 }
00121 
00122 void MarkerBase::setPosition( const Ogre::Vector3& position )
00123 {
00124   scene_node_->setPosition( position );
00125 }
00126 
00127 void MarkerBase::setOrientation( const Ogre::Quaternion& orientation )
00128 {
00129   scene_node_->setOrientation( orientation );
00130 }
00131 
00132 const Ogre::Vector3& MarkerBase::getPosition()
00133 {
00134   return scene_node_->getPosition();
00135 }
00136 
00137 const Ogre::Quaternion& MarkerBase::getOrientation()
00138 {
00139   return scene_node_->getOrientation();
00140 }
00141 
00142 void MarkerBase::extractMaterials( Ogre::Entity *entity, S_MaterialPtr &materials )
00143 {
00144   uint32_t num_sub_entities = entity->getNumSubEntities();
00145   for (uint32_t i = 0; i < num_sub_entities; ++i)
00146   {
00147     Ogre::SubEntity* sub = entity->getSubEntity(i);
00148     Ogre::MaterialPtr material = sub->getMaterial();
00149     materials.insert( material );
00150   }
00151 }
00152 
00153 
00154 
00155 } // namespace rviz


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32