entity_visual.h

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#ifndef ENTITY_VISUAL_H
#define ENTITY_VISUAL_H
 
#include <boost/shared_ptr.hpp>
 
#include <rviz/ogre_helpers/mesh_shape.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/ogre_helpers/movable_text.h>
 
#include <ed_gui_server_msgs/EntityMeshAndVolumes.h>
#include <ed_gui_server_msgs/Polygon.h>
 
namespace Ogre
{
class Vector3;
class Quaternion;
class ColorValue;
}
 
namespace ed_rviz_plugins
{
 
class EntityVisual
{
public:
    // Constructor.  Creates the visual stuff and puts it into the scene, but in an unconfigured state.
    EntityVisual(Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node);
 
    // Destructor.  Removes the visual stuff from the scene.
    virtual ~EntityVisual();
 
    // Configure the visual to show the data in the message.
    void setEntityMeshAndVolumes(const ed_gui_server_msgs::EntityMeshAndVolumes& mesh_and_areas);
    void setConvexHull (const ed_gui_server_msgs::Polygon& polygon);
    void setLabel (const std::string& label);
 
    void setColor (Ogre::ColourValue c, double entity_label_opacity, double area_opacity, double area_label_opacity);
 
    // Set the pose of the coordinate frame the message refers to.
    void setFramePosition(const Ogre::Vector3& position);
    void setFrameOrientation(const Ogre::Quaternion& orientation);
 
    // Get revisions
    unsigned long visualRevision() const { return visual_revision_; }
    unsigned long volumesRevision() const { return volumes_revision_; }
 
private:
    // The actual scene objects
    boost::shared_ptr<rviz::MeshShape> mesh_;
    std::vector<boost::shared_ptr<rviz::MeshShape> > volume_meshes_;
    std::vector<boost::shared_ptr<rviz::MovableText> > volume_labels_;
    unsigned long visual_revision_;
    unsigned long volumes_revision_;
 
    boost::shared_ptr<rviz::BillboardLine> convex_hull_;
 
    boost::shared_ptr<rviz::MovableText> label_;
 
    Ogre::ColourValue color_;    
 
    Ogre::SceneNode* frame_node_;
 
    Ogre::SceneManager* scene_manager_;
};
 
}
 
#endif // ENTITY_VISUAL_H