simulate_robot_camera.h

Go to the documentation of this file.

/*
 * Copyright (c) 2011, 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.
 */

#ifndef TEST_RVE_SIMULATE_ROBOT_CAMERA_H
#define TEST_RVE_SIMULATE_ROBOT_CAMERA_H

#include "rve_render_client/client_context.h"
#include "rve_render_server/init.h"
#include "rve_render_client/init.h"
#include "rve_render_client/render_window.h"
#include "rve_render_client/scene.h"
#include "rve_render_client/camera.h"
#include <rve_transformer/transformer_manager.h>

#include <rve_qt/render_widget.h>

#include <ros/package.h>
#include <ros/time.h>

#include <ros/time.h>
#include <ros/ros.h>

#include <QtGui/QtGui>

class MyWidget : public rve_qt::RenderWidget
{
  Q_OBJECT

public:
  MyWidget(const rve_render_client::ClientContextPtr& context, QWidget* parent = 0);

  ~MyWidget()
  {
  }

private:
  ros::NodeHandle private_nh_;

  rve_render_client::ClientContextPtr context_;
  rve_render_client::ScenePtr scene_;
  rve_render_client::CameraPtr camera_;

  rve_transformer::TransformerManagerPtr transformer_manager_;

  ros::WallTime last_update_;

private Q_SLOTS:
  void update();
};

#endif // TEST_RVE_SIMULATE_ROBOT_CAMERA_H