render_shapes.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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/* Author: Ioan Sucan */

#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_
#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_RENDER_SHAPES_

#include <geometric_shapes/shapes.h>
#include <rviz/helpers/color.h>
#include <OGRE/OgreMaterial.h>
#include <Eigen/Geometry>
#include <string>
#include <boost/shared_ptr.hpp>
#include <moveit/rviz_plugin_render_tools/octomap_render.h>

namespace Ogre
{
class Entity;
class SceneNode;
class ManualObject;
}

namespace rviz
{
class DisplayContext;
class Shape;
}

namespace moveit_rviz_plugin
{

// forward delcaration
class OcTreeRender;

class RenderShapes
{
public:

  RenderShapes(rviz::DisplayContext *context);
  ~RenderShapes();

  void renderShape(Ogre::SceneNode *node,
                   const shapes::Shape *s,
                   const Eigen::Affine3d &p,
                   OctreeVoxelRenderMode octree_voxel_rendering,
                   OctreeVoxelColorMode octree_color_mode,
                   const rviz::Color &color,
                   float alpha);
  void clear();

private:

  rviz::DisplayContext *context_;

  std::vector< boost::shared_ptr<rviz::Shape> > scene_shapes_;
  std::vector< Ogre::MovableObject* > movable_objects_;
  std::vector< boost::shared_ptr<OcTreeRender> > octree_voxel_grids_;

  std::vector<Ogre::MaterialPtr> materials_;


};

typedef boost::shared_ptr<RenderShapes> RenderShapesPtr;
typedef boost::shared_ptr<const RenderShapes> RenderShapesConstPtr;

}

#endif