RobotGoalsArrayVisual.h
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29 
30 #ifndef TUW_ROBOT_GOALS_ARRAY_VISUAL_H
31 #define TUW_ROBOT_GOALS_ARRAY_VISUAL_H
32 
33 #include <tuw_multi_robot_msgs/RobotGoalsArray.h>
36 
37 namespace Ogre
38 {
39 class Vector3;
40 class Quaternion;
41 }
42 
43 namespace rviz
44 {
45 class Arrow;
46 class Shape;
47 }
48 
49 namespace tuw_multi_robot_rviz
50 {
51 
52 // Declare the visual class for this display.
54 {
55 public:
56  // Constructor. Creates the visual stuff and puts it into the
57  // scene, but in an unconfigured state.
58  RobotGoalsArrayVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
59 
60  // Destructor. Removes the visual stuff from the scene.
61  virtual ~RobotGoalsArrayVisual();
62 
63  // Configure the visual to show the data in the message.
64  void setMessage( const tuw_multi_robot_msgs::RobotGoalsArray::ConstPtr& msg );
65 
66  // Set the pose of the coordinate frame the message refers to.
67  // These could be done inside setMessage(), but that would require
68  // calls to FrameManager and error handling inside setMessage(),
69  // which doesn't seem as clean. This way RobotGoalsArrayVisual is
70  // only responsible for visualization.
71  void setFramePosition( const Ogre::Vector3& position );
72  void setFrameOrientation( const Ogre::Quaternion& orientation );
73 
74  // Set the scale of the visual, which is an user-editable
75  // parameter and therefore don't come from the RobotGoalsArrayStamped message.
76  void setScalePose( float scale );
77 
78  // Set the color of the visual's Pose, which is an user-editable
79  // parameter and therefore don't come from the RobotGoalsArrayStamped message.
80  void setColorPose( Ogre::ColourValue color );
81 
82 private:
83  // The object implementing the actual pose shape
84  std::vector< boost::shared_ptr<rviz::Arrow> > goals_;
85 
86  // A SceneNode whose pose is set to match the coordinate frame of
87  // the Imu message header.
88  Ogre::SceneNode* frame_node_;
89 
90  // The SceneManager, kept here only so the destructor can ask it to
91  // destroy the ``frame_node_``.
92  Ogre::SceneManager* scene_manager_;
93 
94  // The pose Shape object's scale
95  float scale_pose_;
96 
97  // The pose Shape object's color
98  Ogre::ColourValue color_pose_;
99 
100  // The variance Shape object's color
101  Ogre::ColourValue color_variance_;
102 };
103 
104 } // end namespace tuw_pose_rviz
105 
106 #endif // TUW_ROBOT_GOALS_ARRAY_VISUAL_H
107 
std::vector< boost::shared_ptr< rviz::Arrow > > goals_
TFSIMD_FORCE_INLINE Vector3()


tuw_multi_robot_rviz
Author(s): Benjamin Binder
autogenerated on Mon Jun 10 2019 15:42:40