00001 /* 00002 * Copyright (c) 2010, 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 TEST_RVE_TEST_TRANSFORMER_H 00031 #define TEST_RVE_TEST_TRANSFORMER_H 00032 00033 #include "rve_render_client/client_context.h" 00034 #include "rve_render_server/init.h" 00035 #include "rve_render_client/init.h" 00036 #include "rve_render_client/render_window.h" 00037 #include "rve_render_client/scene.h" 00038 #include "rve_render_client/camera.h" 00039 #include <rve_transformer/transformer_manager.h> 00040 #include <rve_common_transformers/urdf.h> 00041 #include <rve_common_transformers/orbit_camera.h> 00042 #include <rve_render_client/billboard_text.h> 00043 00044 #include <rve_qt/render_widget.h> 00045 00046 #include <ros/package.h> 00047 #include <ros/time.h> 00048 00049 #include <ros/time.h> 00050 #include <ros/ros.h> 00051 00052 #include <QtGui/QtGui> 00053 00054 class MyWidget : public rve_qt::RenderWidget 00055 { 00056 Q_OBJECT 00057 00058 public: 00059 MyWidget(const rve_render_client::ClientContextPtr& context, QWidget* parent = 0); 00060 00061 ~MyWidget() 00062 { 00063 } 00064 00065 private: 00066 ros::NodeHandle private_nh_; 00067 00068 rve_render_client::ClientContextPtr context_; 00069 rve_render_client::ScenePtr scene_; 00070 rve_render_client::CameraPtr camera_; 00071 00072 rve_transformer::TransformerManagerPtr transformer_manager_; 00073 00074 // Mouse handling 00075 bool left_mouse_down_; 00076 bool middle_mouse_down_; 00077 bool right_mouse_down_; 00078 int mouse_x_; 00079 int mouse_y_; 00080 00081 ros::WallTime last_update_; 00082 00083 rve_common_transformers::URDFPtr urdf_; 00084 rve_render_client::BillboardTextPtr text_; 00085 rve_render_client::SpherePtr ball_; 00086 rve_common_transformers::OrbitCameraPtr cam_; 00087 rve_render_client::MeshInstancePtr flag_; 00088 00089 private Q_SLOTS: 00090 void update(); 00091 }; 00092 00093 #endif // TEST_RVE_TEST_TRANSFORMER_H