octomap_render.h
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34 
35 /* Author: Julius Kammerl */
36 
37 #ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
38 #define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
39 
40 #include <memory>
41 #include <vector>
43 
45 
46 namespace octomap
47 {
48 class OcTree;
49 }
50 
51 namespace Ogre
52 {
53 class SceneManager;
54 class SceneNode;
55 class AxisAlignedBox;
56 class Vector3;
57 class Quaternion;
58 }
59 
60 namespace moveit_rviz_plugin
61 {
63 {
66 };
67 
69 {
72 };
73 
75 {
76 public:
77  OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree, OctreeVoxelRenderMode octree_voxel_rendering,
78  OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneManager* scene_manager,
79  Ogre::SceneNode* parent_node);
80  virtual ~OcTreeRender();
81 
82  void setPosition(const Ogre::Vector3& position);
83  void setOrientation(const Ogre::Quaternion& orientation);
84 
85 private:
86  void setColor(double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point* point);
87  void setProbColor(double prob, rviz::PointCloud::Point* point);
88 
89  void octreeDecoding(const std::shared_ptr<const octomap::OcTree>& octree,
90  OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode);
91 
92  // Ogre-rviz point clouds
93  std::vector<rviz::PointCloud*> cloud_;
94  std::shared_ptr<const octomap::OcTree> octree_;
95 
96  Ogre::SceneNode* scene_node_;
97  Ogre::SceneManager* scene_manager_;
98 
99  double colorFactor_;
100  std::size_t octree_depth_;
101 };
102 }
103 #endif
TFSIMD_FORCE_INLINE Vector3()
Ogre::SceneManager * scene_manager_
std::vector< rviz::PointCloud * > cloud_
std::shared_ptr< const octomap::OcTree > octree_


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sun Oct 18 2020 13:19:09