Program Listing for File arrow.hpp

↰ Return to documentation for file (include/rviz_rendering/objects/arrow.hpp)

// Copyright (c) 2008, Willow Garage, Inc.
// Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holder 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 HOLDER 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.


#include <OgreVector.h>

#include "object.hpp"
#include "rviz_rendering/visibility_control.hpp"

#ifndef RVIZ_RENDERING__OBJECTS__ARROW_HPP_
#define RVIZ_RENDERING__OBJECTS__ARROW_HPP_

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

namespace rviz_rendering
{
class Shape;

class RVIZ_RENDERING_PUBLIC Arrow : public Object
{
public:
  Arrow(
    Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node = 0,
    float shaft_length = 1.0f, float shaft_diameter = 0.1f,
    float head_length = 0.3f, float head_diameter = 0.2f);
  virtual ~Arrow();

  void set(float shaft_length, float shaft_diameter, float head_length, float head_diameter);

  virtual void setColor(float r, float g, float b, float a);
  void setColor(const Ogre::ColourValue & color);

  void setHeadColor(float r, float g, float b, float a = 1.0f);
  void setHeadColor(const Ogre::ColourValue & color);
  void setShaftColor(float r, float g, float b, float a = 1.0f);
  void setShaftColor(const Ogre::ColourValue & color);

  virtual void setOrientation(const Ogre::Quaternion & orientation);

  virtual void setPosition(const Ogre::Vector3 & position);

  void setDirection(const Ogre::Vector3 & direction);

  virtual void setScale(const Ogre::Vector3 & scale);
  virtual const Ogre::Vector3 & getPosition();
  virtual const Ogre::Quaternion & getOrientation();

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

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

  Shape * getShaft() {return shaft_;}
  Shape * getHead() {return head_;}

private:
  Ogre::SceneNode * scene_node_;

  Shape * shaft_;
  Shape * head_;
};

}  // namespace rviz_rendering

#endif  // RVIZ_RENDERING__OBJECTS__ARROW_HPP_