marker_base.h
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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 #ifndef RVIZ_MARKER_BASE_H
00031 #define RVIZ_MARKER_BASE_H
00032 
00033 #include "rviz/selection/forwards.h"
00034 #include "rviz/interactive_object.h"
00035 
00036 #include <visualization_msgs/Marker.h>
00037 
00038 #include <ros/time.h>
00039 
00040 #include <boost/shared_ptr.hpp>
00041 
00042 namespace Ogre
00043 {
00044 class SceneNode;
00045 class Vector3;
00046 class Quaternion;
00047 class Entity;
00048 }
00049 
00050 namespace rviz
00051 {
00052 
00053 class VisualizationManager;
00054 class MarkerDisplay;
00055 
00056 typedef std::pair<std::string, int32_t> MarkerID;
00057 typedef std::set<Ogre::MaterialPtr> S_MaterialPtr;
00058 
00059 class MarkerBase
00060 {
00061 public:
00062   typedef visualization_msgs::Marker Marker;
00063   typedef visualization_msgs::Marker::ConstPtr MarkerConstPtr;
00064 
00065   MarkerBase(MarkerDisplay* owner, VisualizationManager* manager, Ogre::SceneNode* parent_node);
00066 
00067   virtual ~MarkerBase();
00068 
00069   void setMessage(const Marker& message);
00070   void setMessage(const MarkerConstPtr& message);
00071   bool expired();
00072 
00073   void updateFrameLocked();
00074 
00075   const MarkerConstPtr& getMessage() const { return message_; }
00076 
00077   MarkerID getID() { return MarkerID(message_->ns, message_->id); }
00078   std::string getStringID()
00079   {
00080     std::stringstream ss;
00081     ss << message_->ns << "/" << message_->id;
00082     return ss.str();
00083   }
00084 
00086   void setInteractiveObject( InteractiveObjectWPtr object );
00087 
00088   virtual void setPosition( const Ogre::Vector3& position );
00089   virtual void setOrientation( const Ogre::Quaternion& orientation );
00090   const Ogre::Vector3& getPosition();
00091   const Ogre::Quaternion& getOrientation();
00092 
00093   virtual S_MaterialPtr getMaterials() { return S_MaterialPtr(); }
00094 
00095 protected:
00096   bool transform(const MarkerConstPtr& message, Ogre::Vector3& pos, Ogre::Quaternion& orient, Ogre::Vector3& scale);
00097   virtual void onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message) = 0;
00098 
00099   void extractMaterials( Ogre::Entity *entity, S_MaterialPtr &materials );
00100 
00101   MarkerDisplay* owner_;
00102   VisualizationManager* vis_manager_;
00103 
00104   Ogre::SceneNode* scene_node_;
00105 
00106   CollObjectHandle coll_;
00107   MarkerConstPtr message_;
00108 
00109   ros::Time expiration_;
00110 };
00111 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
00112 
00113 }
00114 
00115 #endif


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