render_shapes.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/rviz_plugin_render_tools/octomap_render.h>
#include <moveit/macros/class_forward.h>
#include <geometric_shapes/shapes.h>
#include <rviz/helpers/color.h>
#include <Eigen/Geometry>
#include <memory>
 
namespace Ogre
{
class SceneNode;
}
 
namespace rviz
{
class DisplayContext;
class Shape;
}  // namespace rviz
 
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(OcTreeRender);  // Defines OcTreeRenderPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RenderShapes);  // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
 
class RenderShapes
{
public:
  RenderShapes(rviz::DisplayContext* context);
  ~RenderShapes();
 
  void renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Isometry3d& p,
                   OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
                   const rviz::Color& color, float alpha);
  void updateShapeColors(float r, float g, float b, float a);
  void clear();
 
private:
  rviz::DisplayContext* context_;
 
  std::vector<std::unique_ptr<rviz::Shape> > scene_shapes_;
  std::vector<OcTreeRenderPtr> octree_voxel_grids_;
};
}  // namespace moveit_rviz_plugin