Program Listing for File mapped_covariance_visual.hpp
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#ifndef FUSE_VIZ__MAPPED_COVARIANCE_VISUAL_HPP_
#define FUSE_VIZ__MAPPED_COVARIANCE_VISUAL_HPP_
#include <OgreColourValue.h>
#include <Ogre.h>
#include <Eigen/Dense>
#include <cmath>
#include <rviz_rendering/objects/object.hpp>
#include <rviz_rendering/objects/shape.hpp>
#include <geometry_msgs/msg/pose_with_covariance.hpp>
namespace Ogre
{
class SceneManager;
class SceneNode;
class Any;
} // namespace Ogre
namespace Eigen
{
typedef Matrix<double, 6, 6> Matrix6d;
}
namespace fuse_viz
{
class MappedCovarianceVisual : public rviz_rendering::Object
{
public:
enum ShapeIndex
{
kRoll = 0,
kPitch = 1,
kYaw = 2,
kYaw2D = 3,
kNumOriShapes
};
private:
MappedCovarianceVisual(
Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node, bool is_local_rotation,
bool is_visible = true, float pos_scale = 1.0f, float ori_scale = 0.1f,
float ori_offset = 0.1f);
public:
~MappedCovarianceVisual() override;
void setScales(float pos_scale, float ori_scale);
void setPositionScale(float pos_scale);
void setOrientationOffset(float ori_offset);
void setOrientationScale(float ori_scale);
virtual void setPositionColor(float r, float g, float b, float a);
void setPositionColor(const Ogre::ColourValue & color);
virtual void setOrientationColor(float r, float g, float b, float a);
void setOrientationColor(const Ogre::ColourValue & color);
void setOrientationColorToRGB(float a);
virtual void setCovariance(const geometry_msgs::msg::PoseWithCovariance & pose);
virtual const Ogre::Vector3 & getPositionCovarianceScale();
virtual const Ogre::Quaternion & getPositionCovarianceOrientation();
Ogre::SceneNode * getPositionSceneNode()
{
return position_scale_node_;
}
Ogre::SceneNode * getOrientationSceneNode()
{
return orientation_root_node_;
}
rviz_rendering::Shape * getPositionShape()
{
return position_shape_;
}
rviz_rendering::Shape * getOrientationShape(ShapeIndex index);
virtual void setUserData(const Ogre::Any & data);
virtual void setVisible(bool visible);
virtual void setPositionVisible(bool visible);
virtual void setOrientationVisible(bool visible);
virtual void setPosition(const Ogre::Vector3 & position);
virtual void setOrientation(const Ogre::Quaternion & orientation);
virtual void setRotatingFrame(bool use_rotating_frame);
private:
void updatePosition(const Eigen::Matrix6d & covariance);
void updateOrientation(const Eigen::Matrix6d & covariance, ShapeIndex index);
void updateOrientationVisibility();
Ogre::SceneNode * root_node_ = nullptr;
Ogre::SceneNode * fixed_orientation_node_ = nullptr;
Ogre::SceneNode * position_scale_node_ = nullptr;
Ogre::SceneNode * position_node_ = nullptr;
Ogre::SceneNode * orientation_root_node_ = nullptr;
Ogre::SceneNode * orientation_offset_node_[kNumOriShapes];
rviz_rendering::Shape * position_shape_;
rviz_rendering::Shape * orientation_shape_[kNumOriShapes];
bool local_rotation_;
bool pose_2d_;
bool orientation_visible_;
Ogre::Vector3 current_ori_scale_[kNumOriShapes];
float current_ori_scale_factor_;
static const float max_degrees;
private:
// Hide Object methods we don't want to expose
// NOTE: Apparently we still need to define them...
virtual void setScale(const Ogre::Vector3 &)
{
}
virtual void setColor(float, float, float, float)
{
}
virtual const Ogre::Vector3 & getPosition();
virtual const Ogre::Quaternion & getOrientation();
// Make MappedCovarianceProperty friend class so it create MappedCovarianceVisual objects
friend class MappedCovarianceProperty;
};
} // namespace fuse_viz
#endif // FUSE_VIZ__MAPPED_COVARIANCE_VISUAL_HPP_