LineSegments2DVisual.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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#include <ros/ros.h>

#include <OGRE/OgreVector3.h>
#include <OGRE/OgreMatrix3.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>

#include "LineSegments2D/LineSegments2DVisual.h"

namespace tuw_geometry_rviz
{
LineSegments2DVisual::LineSegments2DVisual(Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node)
{
  scene_manager_ = scene_manager;

  // Ogre::SceneNode s form a tree, with each node storing the
  // transform (position and orientation) of itself relative to its
  // parent.  Ogre does the math of combining those transforms when it
  // is time to render.
  //
  // Here we create a node to store the pose of the MarkerDetection's header frame
  // relative to the RViz fixed frame.
  frame_node_ = parent_node->createChildSceneNode();

  // We create the visual objects within the frame node so that we can
  // set thier position and direction relative to their header frame.
  linesegments_.reset(new rviz::BillboardLine(scene_manager_, frame_node_));
}

LineSegments2DVisual::~LineSegments2DVisual()
{
  // Destroy the frame node since we don't need it anymore.
  scene_manager_->destroySceneNode(frame_node_);
}

void LineSegments2DVisual::setMessage(const tuw_geometry_msgs::LineSegments::ConstPtr& msg)
{
  linesegments_->clear();
  linesegments_->setMaxPointsPerLine(2);
  linesegments_->setNumLines(msg->segments.size());
  for (int i = 0; i < msg->segments.size(); i++)
  {
    Ogre::Vector3 start = Ogre::Vector3(msg->segments[i].p0.x, msg->segments[i].p0.y, msg->segments[i].p0.z);
    Ogre::Vector3 end = Ogre::Vector3(msg->segments[i].p1.x, msg->segments[i].p1.y, msg->segments[i].p1.z);

    // start new Line (except for first)
    if (i != 0)
      linesegments_->newLine();

    linesegments_->addPoint(start);
    linesegments_->addPoint(end);
  }
}

// Position is passed through to the SceneNode.
void LineSegments2DVisual::setFramePosition(const Ogre::Vector3& position)
{
  frame_node_->setPosition(position);
}

// Orientation is passed through to the SceneNode.
void LineSegments2DVisual::setFrameOrientation(const Ogre::Quaternion& orientation)
{
  frame_node_->setOrientation(orientation);
}

// Color is passed through to the BillboardLine object.
void LineSegments2DVisual::setColorSegments(Ogre::ColourValue color)
{
  linesegments_->setColor(color.r, color.g, color.b, color.a);
}

// Scale is passed through to the BillboardLine object.
void LineSegments2DVisual::setScaleSegments(float scale)
{
  linesegments_->setScale(Ogre::Vector3(scale, scale, scale));
}

// Width is passed through to the BillboardLine object.
void LineSegments2DVisual::setWidthSegments(float width)
{
  linesegments_->setLineWidth(width);
}

}  // end namespace marker_rviz_plugin