flat_weighted_arrows_array.hpp

/*
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 * Copyright (c) 2018, Bosch Software Innovations GmbH.
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// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_
#define NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_
 
#include <vector>
 
#include <OgreManualObject.h>
#include <OgreMaterialManager.h>
#include <OgreSceneNode.h>
#include <Ogre.h>
#include <OgreQuaternion.h>
 
#include "nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp"
 
namespace nav2_rviz_plugins
{
 
struct OgrePoseWithWeight;
 
class FlatWeightedArrowsArray
{
public:
  explicit FlatWeightedArrowsArray(Ogre::SceneManager * scene_manager_);
  ~FlatWeightedArrowsArray();
 
  void createAndAttachManualObject(Ogre::SceneNode * scene_node);
  void updateManualObject(
    Ogre::ColourValue color,
    float alpha,
    float min_length,
    float max_length,
    const std::vector<nav2_rviz_plugins::OgrePoseWithWeight> & poses);
  void clear();
 
private:
  void setManualObjectMaterial();
  void setManualObjectVertices(
    const Ogre::ColourValue & color,
    float min_length,
    float max_length,
    const std::vector<nav2_rviz_plugins::OgrePoseWithWeight> & poses);
 
  Ogre::SceneManager * scene_manager_;
  Ogre::ManualObject * manual_object_;
  Ogre::MaterialPtr material_;
};
 
}  // namespace nav2_rviz_plugins
 
#endif  // NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_