planning_scene_render.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, 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 Willow Garage 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 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/rviz_plugin_render_tools/render_shapes.h>
#include <rviz/helpers/color.h>
#include <OgreMaterial.h>
 
namespace Ogre
{
class SceneNode;
}
 
namespace rviz
{
class DisplayContext;
}
 
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(RobotStateVisualization);  // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RenderShapes);             // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(PlanningSceneRender);      // Defines PlanningSceneRenderPtr, ConstPtr, WeakPtr... etc
 
class PlanningSceneRender
{
public:
  PlanningSceneRender(Ogre::SceneNode* root_node, rviz::DisplayContext* context,
                      const RobotStateVisualizationPtr& robot);
  ~PlanningSceneRender();
 
  Ogre::SceneNode* getGeometryNode()
  {
    return planning_scene_geometry_node_;
  }
 
  const RobotStateVisualizationPtr& getRobotVisualization()
  {
    return scene_robot_;
  }
 
  void updateRobotPosition(const planning_scene::PlanningSceneConstPtr& scene);
 
  void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene, const rviz::Color& default_scene_color,
                           const rviz::Color& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
                           OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
  void clear();
 
private:
  Ogre::SceneNode* planning_scene_geometry_node_;
  rviz::DisplayContext* context_;
  RenderShapesPtr render_shapes_;
  RobotStateVisualizationPtr scene_robot_;
};
}  // namespace moveit_rviz_plugin