octomap_render.h
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34 
35 /* Author: Julius Kammerl */
36 
37 #pragma once
38 
39 #include <memory>
40 #include <vector>
43 #include <OGRE/OgrePrerequisites.h>
44 
45 namespace octomap
46 {
47 class OcTree;
48 }
49 
50 namespace moveit_rviz_plugin
51 {
53 {
56 };
57 
59 {
62 };
63 
65 {
66 public:
67  OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree, OctreeVoxelRenderMode octree_voxel_rendering,
68  OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneNode* parent_node);
69  virtual ~OcTreeRender();
70 
71  void setPosition(const Ogre::Vector3& position);
72  void setOrientation(const Ogre::Quaternion& orientation);
73 
74 private:
75  void setColor(double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point* point);
76  void setProbColor(double prob, rviz::PointCloud::Point* point);
77 
78  void octreeDecoding(const std::shared_ptr<const octomap::OcTree>& octree,
79  OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode);
80 
81  // Ogre-rviz point clouds
82  std::vector<rviz::PointCloud*> cloud_;
83  std::shared_ptr<const octomap::OcTree> octree_;
84 
85  Ogre::SceneNode* scene_node_;
86 
87  double colorFactor_;
88  std::size_t octree_depth_;
89 };
90 } // namespace moveit_rviz_plugin
moveit_rviz_plugin::OcTreeRender::colorFactor_
double colorFactor_
Definition: octomap_render.h:87
moveit_rviz_plugin::OcTreeRender::setOrientation
void setOrientation(const Ogre::Quaternion &orientation)
Definition: octomap_render.cpp:135
moveit_rviz_plugin::OCTOMAP_OCCUPIED_VOXELS
@ OCTOMAP_OCCUPIED_VOXELS
Definition: octomap_render.h:55
octomap_render.h
moveit_rviz_plugin::OcTreeRender::OcTreeRender
OcTreeRender(const std::shared_ptr< const octomap::OcTree > &octree, OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneNode *parent_node)
Definition: octomap_render.cpp:84
moveit_rviz_plugin::OCTOMAP_FREE_VOXELS
@ OCTOMAP_FREE_VOXELS
Definition: octomap_render.h:54
moveit_rviz_plugin::OcTreeRender::cloud_
std::vector< rviz::PointCloud * > cloud_
Definition: octomap_render.h:82
moveit_rviz_plugin::OcTreeRender::octree_
std::shared_ptr< const octomap::OcTree > octree_
Definition: octomap_render.h:83
moveit_rviz_plugin::OCTOMAP_Z_AXIS_COLOR
@ OCTOMAP_Z_AXIS_COLOR
Definition: octomap_render.h:60
moveit_rviz_plugin::OcTreeRender::setColor
void setColor(double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point *point)
Definition: octomap_render.cpp:141
point_cloud.h
rviz::PointCloud::Point
moveit_rviz_plugin::OctreeVoxelRenderMode
OctreeVoxelRenderMode
Definition: octomap_render.h:52
moveit_rviz_plugin::OcTreeRender::setProbColor
void setProbColor(double prob, rviz::PointCloud::Point *point)
moveit_rviz_plugin::OcTreeRender::~OcTreeRender
virtual ~OcTreeRender()
Definition: octomap_render.cpp:115
point
std::chrono::system_clock::time_point point
moveit_rviz_plugin
Definition: motion_planning_display.h:80
moveit_rviz_plugin::OcTreeRender::setPosition
void setPosition(const Ogre::Vector3 &position)
Definition: octomap_render.cpp:130
moveit_rviz_plugin::OcTreeRender::octreeDecoding
void octreeDecoding(const std::shared_ptr< const octomap::OcTree > &octree, OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode)
Definition: octomap_render.cpp:188
moveit_rviz_plugin::OCTOMAP_PROBABLILTY_COLOR
@ OCTOMAP_PROBABLILTY_COLOR
Definition: octomap_render.h:61
moveit_rviz_plugin::OcTreeRender::scene_node_
Ogre::SceneNode * scene_node_
Definition: octomap_render.h:85
moveit_rviz_plugin::OctreeVoxelColorMode
OctreeVoxelColorMode
Definition: octomap_render.h:58
octomap
moveit_rviz_plugin::OcTreeRender
Definition: octomap_render.h:64
moveit_rviz_plugin::OcTreeRender::octree_depth_
std::size_t octree_depth_
Definition: octomap_render.h:88


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:26