axes.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef OGRE_TOOLS_AXES_H
#define OGRE_TOOLS_AXES_H

#include "object.h"
#include "rviz/rviz_export.h"

#include <stddef.h>
#include <stdint.h>

#include <vector>

namespace Ogre
{
class SceneManager;
class SceneNode;
class Vector3;
class Quaternion;
class Any;
class ColourValue;
} // namespace Ogre

namespace rviz
{
class Shape;

class RVIZ_EXPORT Axes : public Object
{
public:
  Axes(Ogre::SceneManager* manager,
       Ogre::SceneNode* parent_node = nullptr,
       float length = 1.0f,
       float radius = 0.1f);
  ~Axes() override;

  void set(float length, float radius);

  void setOrientation(const Ogre::Quaternion& orientation) override;
  void setPosition(const Ogre::Vector3& position) override;
  void setScale(const Ogre::Vector3& scale) override;
  void setColor(float r, float g, float b, float a) override;
  const Ogre::Vector3& getPosition() override;
  const Ogre::Quaternion& getOrientation() override;

  Ogre::SceneNode* getSceneNode()
  {
    return scene_node_;
  }

  void setUserData(const Ogre::Any& data) override;

  Shape* getXShape()
  {
    return x_axis_;
  }
  Shape* getYShape()
  {
    return y_axis_;
  }
  Shape* getZShape()
  {
    return z_axis_;
  }

  void setXColor(const Ogre::ColourValue& col);
  void setYColor(const Ogre::ColourValue& col);
  void setZColor(const Ogre::ColourValue& col);
  void setToDefaultColors();
  static const Ogre::ColourValue& getDefaultXColor();
  static const Ogre::ColourValue& getDefaultYColor();
  static const Ogre::ColourValue& getDefaultZColor();

private:
  // prohibit copying
  Axes(const Axes&) = delete;
  Axes& operator=(const Axes&) = delete;

  Ogre::SceneNode* scene_node_;

  Shape* x_axis_; 
  Shape* y_axis_; 
  Shape* z_axis_; 

  static const Ogre::ColourValue default_x_color_;
  static const Ogre::ColourValue default_y_color_;
  static const Ogre::ColourValue default_z_color_;
};

} // namespace rviz

#endif