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[Personalrobots-commit] SF.net SVN: personalrobots:[9213] pkg/trunk/visualization/ogre_visualizer
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From: <ve...@us...> - 2009-01-11 22:56:32
|
Revision: 9213
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9213&view=rev
Author: veedee
Date: 2009-01-11 22:56:24 +0000 (Sun, 11 Jan 2009)
Log Message:
-----------
added a collision map visualizer for Ogre (+ dependency on collision_map)
Modified Paths:
--------------
pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt
pkg/trunk/visualization/ogre_visualizer/manifest.xml
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.h
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/factory.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.i
Added Paths:
-----------
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.h
Modified: pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt 2009-01-11 22:56:24 UTC (rev 9213)
@@ -87,6 +87,7 @@
src/ogre_visualizer/displays/particle_cloud_2d_display.cpp
src/ogre_visualizer/displays/poly_line_2d_display.cpp
src/ogre_visualizer/displays/polygonal_map_display.cpp
+ src/ogre_visualizer/displays/collision_map_display.cpp
src/ogre_visualizer/displays/map_display.cpp
src/ogre_visualizer/displays/tf_display.cpp
src/ogre_visualizer/generated/visualization_panel_generated.cpp
Modified: pkg/trunk/visualization/ogre_visualizer/manifest.xml
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/manifest.xml 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/manifest.xml 2009-01-11 22:56:24 UTC (rev 9213)
@@ -28,6 +28,8 @@
<depend package="wxPython_swig_interface"/>
<depend package="std_srvs"/>
<depend package="boost"/>
+ <depend package="collision_map" />
+
<export>
<cpp cflags="-I${prefix}/src/" lflags="-Wl,-rpath,${prefix}/lib ${prefix}/lib/_ogre_visualizer.so"/>
<python path="${prefix}/lib/"/>
Added: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp (rev 0)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp 2009-01-11 22:56:24 UTC (rev 9213)
@@ -0,0 +1,411 @@
+/*
+ * Copyright (c) 2008, 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 the Willow Garage, Inc. 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.
+ *
+ * $Id$
+ *
+ */
+
+#include "collision_map_display.h"
+#include "properties/property.h"
+#include "properties/property_manager.h"
+#include "common.h"
+
+#include <ros/node.h>
+#include <tf/transform_listener.h>
+#include <tf/message_notifier.h>
+
+#include <boost/bind.hpp>
+
+#include <OgreSceneNode.h>
+#include <OgreSceneManager.h>
+#include <OgreManualObject.h>
+#include <OgreBillboardSet.h>
+
+#include <ogre_tools/point_cloud.h>
+
+namespace ogre_vis
+{
+
+ CollisionMapDisplay::CollisionMapDisplay (const std::string & name, VisualizationManager * manager)
+ : Display (name, manager)
+ , color_ (0.1f, 1.0f, 0.0f)
+ , render_operation_ (collision_render_ops::CBoxes)
+ , override_color_ (false)
+ , color_property_ (NULL)
+ , topic_property_ (NULL)
+ , override_color_property_ (NULL)
+ , render_operation_property_ (NULL)
+ , point_size_property_ (NULL)
+ , z_position_property_ (NULL)
+ , alpha_property_ (NULL)
+ {
+ scene_node_ = scene_manager_->getRootSceneNode ()->createChildSceneNode ();
+
+ static int count = 0;
+ std::stringstream ss;
+ ss << "Collision Map" << count++;
+ manual_object_ = scene_manager_->createManualObject (ss.str ());
+ manual_object_->setDynamic (true);
+ scene_node_->attachObject (manual_object_);
+
+ cloud_ = new ogre_tools::PointCloud (scene_manager_, scene_node_);
+ setAlpha (1.0f);
+ setPointSize (0.05f);
+ setZPosition (0.0f);
+
+ notifier_ = new tf::MessageNotifier<collision_map::CollisionMap> (tf_, ros_node_, boost::bind(&CollisionMapDisplay::incomingMessage, this, _1), "", "", 1);
+ }
+
+ CollisionMapDisplay::~CollisionMapDisplay ()
+ {
+ unsubscribe ();
+ clear ();
+
+ delete notifier_;
+
+ scene_manager_->destroyManualObject (manual_object_);
+
+ delete cloud_;
+ }
+
+ void
+ CollisionMapDisplay::clear ()
+ {
+ manual_object_->clear ();
+ cloud_->clear ();
+ }
+
+ void
+ CollisionMapDisplay::setTopic (const std::string & topic)
+ {
+ unsubscribe ();
+ topic_ = topic;
+ subscribe ();
+
+ if (topic_property_)
+ topic_property_->changed ();
+
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setColor (const Color & color)
+ {
+ color_ = color;
+
+ if (color_property_)
+ color_property_->changed ();
+
+ message_mutex_.lock();
+ new_message_ = current_message_;
+ processMessage ();
+ new_message_ = CollisionMapPtr();
+ message_mutex_.unlock();
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setOverrideColor (bool override)
+ {
+ override_color_ = override;
+
+ if (override_color_property_)
+ override_color_property_->changed ();
+
+ message_mutex_.lock();
+ new_message_ = current_message_;
+ processMessage ();
+ new_message_ = CollisionMapPtr();
+ message_mutex_.unlock();
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setRenderOperation (int op)
+ {
+ render_operation_ = op;
+
+ if (render_operation_property_)
+ render_operation_property_->changed ();
+
+ message_mutex_.lock();
+ new_message_ = current_message_;
+ processMessage ();
+ new_message_ = CollisionMapPtr();
+ message_mutex_.unlock();
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setPointSize (float size)
+ {
+ point_size_ = size;
+
+ if (point_size_property_)
+ point_size_property_->changed ();
+
+ cloud_->setBillboardDimensions (size, size);
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setZPosition (float z)
+ {
+ z_position_ = z;
+
+ if (z_position_property_)
+ z_position_property_->changed ();
+
+ scene_node_->setPosition (0.0f, z, 0.0f);
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::setAlpha (float alpha)
+ {
+ alpha_ = alpha;
+ cloud_->setAlpha (alpha);
+
+ if (alpha_property_)
+ alpha_property_->changed ();
+
+ message_mutex_.lock();
+ new_message_ = current_message_;
+ processMessage ();
+ new_message_ = CollisionMapPtr();
+ message_mutex_.unlock();
+ causeRender ();
+ }
+
+ void
+ CollisionMapDisplay::subscribe ()
+ {
+ if (!isEnabled ())
+ return;
+
+ notifier_->setTopic( topic_ );
+ }
+
+ void
+ CollisionMapDisplay::unsubscribe ()
+ {
+ notifier_->setTopic( "" );
+ }
+
+ void
+ CollisionMapDisplay::onEnable ()
+ {
+ scene_node_->setVisible (true);
+ subscribe ();
+ }
+
+ void
+ CollisionMapDisplay::onDisable ()
+ {
+ unsubscribe ();
+ clear ();
+ scene_node_->setVisible (false);
+ }
+
+ void
+ CollisionMapDisplay::fixedFrameChanged ()
+ {
+ clear ();
+ }
+
+ void
+ CollisionMapDisplay::update (float dt)
+ {
+ message_mutex_.lock();
+ if (new_message_)
+ {
+ processMessage ();
+ current_message_ = new_message_;
+ new_message_ = CollisionMapPtr();
+ causeRender ();
+ }
+ message_mutex_.unlock();
+ }
+
+ void
+ CollisionMapDisplay::processMessage ()
+ {
+ if (!new_message_)
+ {
+ return;
+ }
+
+ clear ();
+
+ tf::Stamped < tf::Pose > pose (btTransform (btQuaternion (0.0f, 0.0f, 0.0f), btVector3 (0.0f, 0.0f, z_position_)), new_message_->header.stamp, new_message_->header.frame_id);
+
+ try
+ {
+ tf_->transformPose (fixed_frame_, pose, pose);
+ }
+ catch (tf::TransformException & e)
+ {
+ ROS_ERROR ("Error transforming from frame 'map' to frame '%s'\n", fixed_frame_.c_str ());
+ }
+
+ Ogre::Vector3 position = Ogre::Vector3 (pose.getOrigin ().x (), pose.getOrigin ().y (), pose.getOrigin ().z ());
+ robotToOgre (position);
+
+ btScalar yaw, pitch, roll;
+ pose.getBasis ().getEulerZYX (yaw, pitch, roll);
+
+ Ogre::Matrix3 orientation (ogreMatrixFromRobotEulers( yaw, pitch, roll));
+
+ manual_object_->clear ();
+
+ Ogre::ColourValue color;
+
+ uint32_t num_boxes = new_message_->get_boxes_size ();
+ ROS_INFO ("Collision map contains %d boxes.", num_boxes);
+
+ // If we render points, we don't care about the order
+ if (render_operation_ == collision_render_ops::CPoints)
+ {
+ typedef std::vector < ogre_tools::PointCloud::Point > V_Point;
+ V_Point points;
+ points.resize (num_boxes);
+ for (uint32_t i = 0; i < num_boxes; i++)
+ {
+ ogre_tools::PointCloud::Point & current_point = points[i];
+
+ current_point.x_ = new_message_->boxes[i].center.x;
+ current_point.y_ = new_message_->boxes[i].center.y;
+ current_point.z_ = new_message_->boxes[i].center.z;
+ color = Ogre::ColourValue (color_.r_, color_.g_, color_.b_, alpha_);
+ current_point.r_ = color.r;
+ current_point.g_ = color.g;
+ current_point.b_ = color.b;
+ }
+
+ cloud_->clear ();
+
+ if (!points.empty ())
+ cloud_->addPoints (&points.front (), points.size ());
+ }
+ else
+ {
+ std_msgs::Point32 center, extents;
+ color = Ogre::ColourValue (color_.r_, color_.g_, color_.b_, alpha_);
+ for (uint32_t i = 0; i < num_boxes; i++)
+ {
+ manual_object_->estimateVertexCount (8);
+ manual_object_->begin ("BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_STRIP);
+ center.x = new_message_->boxes[i].center.x;
+ center.y = new_message_->boxes[i].center.y;
+ center.z = new_message_->boxes[i].center.z;
+ extents.x = new_message_->boxes[i].extents.x;
+ extents.y = new_message_->boxes[i].extents.y;
+ extents.z = new_message_->boxes[i].extents.z;
+
+ manual_object_->position (center.x - extents.x, center.y - extents.y, center.z - extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x - extents.x, center.y + extents.y, center.z - extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x + extents.x, center.y + extents.y, center.z - extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x + extents.x, center.y - extents.y, center.z - extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x + extents.x, center.y - extents.y, center.z + extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x + extents.x, center.y + extents.y, center.z + extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x - extents.x, center.y + extents.y, center.z + extents.z);
+ manual_object_->colour (color);
+ manual_object_->position (center.x - extents.x, center.y - extents.y, center.z + extents.z);
+ manual_object_->colour (color);
+ manual_object_->end ();
+ }
+ }
+
+ scene_node_->setPosition (position);
+ scene_node_->setOrientation (orientation);
+ }
+
+ void
+ CollisionMapDisplay::incomingMessage (const CollisionMapPtr& message)
+ {
+ message_mutex_.lock();
+ new_message_ = message;
+ message_mutex_.unlock();
+ }
+
+ void
+ CollisionMapDisplay::reset ()
+ {
+ clear ();
+ }
+
+ void CollisionMapDisplay::targetFrameChanged()
+ {
+ notifier_->setTargetFrame( target_frame_ );
+ }
+
+ void
+ CollisionMapDisplay::createProperties ()
+ {
+ override_color_property_ = property_manager_->createProperty<BoolProperty>("Override Color", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getOverrideColor, this),
+ boost::bind (&CollisionMapDisplay::setOverrideColor, this, _1),
+ parent_category_, this);
+ color_property_ = property_manager_->createProperty<ColorProperty>("Color", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getColor, this),
+ boost::bind (&CollisionMapDisplay::setColor, this, _1),
+ parent_category_, this);
+ render_operation_property_ = property_manager_->createProperty<EnumProperty>("Render Operation", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getRenderOperation, this),
+ boost::bind (&CollisionMapDisplay::setRenderOperation, this, _1),
+ parent_category_, this);
+ render_operation_property_->addOption ("Boxes", collision_render_ops::CBoxes);
+ render_operation_property_->addOption ("Points", collision_render_ops::CPoints);
+
+ z_position_property_ = property_manager_->createProperty<FloatProperty>("Z Position", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getZPosition, this),
+ boost::bind (&CollisionMapDisplay::setZPosition, this, _1),
+ parent_category_, this);
+ alpha_property_ = property_manager_->createProperty<FloatProperty>("Alpha", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getAlpha, this),
+ boost::bind (&CollisionMapDisplay::setAlpha, this, _1),
+ parent_category_, this);
+ topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>("Topic", property_prefix_,
+ boost::bind (&CollisionMapDisplay::getTopic, this),
+ boost::bind (&CollisionMapDisplay::setTopic, this, _1),
+ parent_category_, this);
+ }
+
+ const char*
+ CollisionMapDisplay::getDescription ()
+ {
+ return ("Displays data from a std_msgs::CollisionMap message as either points or lines.");
+ }
+
+} // namespace ogre_vis
Property changes on: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Added: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.h (rev 0)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.h 2009-01-11 22:56:24 UTC (rev 9213)
@@ -0,0 +1,166 @@
+/*
+ * Copyright (c) 2008, 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 the Willow Garage, Inc. 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef OGRE_VISUALIZER_COLLISION_MAP_DISPLAY_H_
+#define OGRE_VISUALIZER_COLLISION_MAP_DISPLAY_H_
+
+#include "display.h"
+#include "helpers/color.h"
+
+#include <rosthread/mutex.h>
+
+#include <boost/shared_ptr.hpp>
+
+#include <collision_map/Box3D.h>
+#include <collision_map/CollisionMap.h>
+
+
+namespace ogre_tools
+{
+ class PointCloud;
+}
+
+namespace Ogre
+{
+ class SceneNode;
+ class ManualObject;
+}
+
+namespace tf
+{
+ template<class Message> class MessageNotifier;
+}
+
+namespace ogre_vis
+{
+ class ROSTopicStringProperty;
+ class ColorProperty;
+ class FloatProperty;
+ class BoolProperty;
+ class EnumProperty;
+
+ namespace collision_render_ops
+ {
+ enum CollisionRenderOp
+ {
+ CBoxes,
+ CPoints,
+ CCount,
+ };
+ }
+ typedef collision_render_ops::CollisionRenderOp CollisionRenderOp;
+
+ /**
+ * \class CollisionMapDisplay
+ * \brief Displays a collision_map::CollisionMap message
+ */
+ class CollisionMapDisplay:public Display
+ {
+ public:
+ CollisionMapDisplay (const std::string& name, VisualizationManager* manager);
+
+ virtual ~CollisionMapDisplay ();
+
+ void setTopic (const std::string& topic);
+ const std::string& getTopic () { return (topic_); }
+
+ void setColor (const Color& color);
+ const Color& getColor () { return (color_); }
+
+ void setOverrideColor (bool override);
+ bool getOverrideColor () { return (override_color_); }
+
+ void setRenderOperation (int op);
+ int getRenderOperation () { return (render_operation_); }
+
+ void setPointSize (float size);
+ float getPointSize () { return (point_size_); }
+
+ void setZPosition (float z);
+ float getZPosition () { return (z_position_); }
+
+ void setAlpha (float alpha);
+ float getAlpha () { return (alpha_); }
+
+ // Overrides from Display
+ virtual void targetFrameChanged ();
+ virtual void fixedFrameChanged ();
+ virtual void createProperties ();
+ virtual void update (float dt);
+ virtual bool isObjectPickable (const Ogre::MovableObject* object) const { return (true); }
+ virtual void reset ();
+
+ static const char *getTypeStatic () { return ("CollisionMap"); }
+ virtual const char *getType () { return (getTypeStatic ()); }
+ static const char *getDescription ();
+
+ protected:
+ void subscribe ();
+ void unsubscribe ();
+ void clear ();
+ typedef boost::shared_ptr<collision_map::CollisionMap> CollisionMapPtr;
+ void incomingMessage (const CollisionMapPtr& message);
+ void processMessage ();
+
+ // overrides from Display
+ virtual void onEnable ();
+ virtual void onDisable ();
+
+ std::string topic_;
+ Color color_;
+ int render_operation_;
+ bool override_color_;
+ float point_size_;
+ float z_position_;
+ float alpha_;
+
+ Ogre::SceneNode* scene_node_;
+ Ogre::ManualObject* manual_object_;
+ ogre_tools::PointCloud* cloud_;
+
+ ros::thread::mutex message_mutex_;
+ CollisionMapPtr new_message_;
+ CollisionMapPtr current_message_;
+ tf::MessageNotifier<collision_map::CollisionMap>* notifier_;
+
+ ColorProperty *color_property_;
+ ROSTopicStringProperty *topic_property_;
+ BoolProperty *override_color_property_;
+ EnumProperty *render_operation_property_;
+ FloatProperty *point_size_property_;
+ FloatProperty* z_position_property_;
+ FloatProperty *alpha_property_;
+ };
+
+} // namespace ogre_vis
+
+#endif /* OGRE_VISUALIZER_COLLISION_MAP_DISPLAY_H_ */
Property changes on: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.h
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.cpp 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.cpp 2009-01-11 22:56:24 UTC (rev 9213)
@@ -263,7 +263,7 @@
return;
}
- clear ();
+ clear ();
tf::Stamped < tf::Pose > pose (btTransform (btQuaternion (0.0f, 0.0f, 0.0f), btVector3 (0.0f, 0.0f, z_position_)), new_message_->header.stamp, new_message_->header.frame_id);
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.h 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.h 2009-01-11 22:56:24 UTC (rev 9213)
@@ -57,7 +57,7 @@
namespace tf
{
-template<class Message> class MessageNotifier;
+ template<class Message> class MessageNotifier;
}
namespace ogre_vis
@@ -87,7 +87,7 @@
{
public:
PolygonalMapDisplay (const std::string& name, VisualizationManager* manager);
-
+
virtual ~PolygonalMapDisplay ();
void setTopic (const std::string& topic);
@@ -107,7 +107,7 @@
void setZPosition (float z);
float getZPosition () { return (z_position_); }
-
+
void setAlpha (float alpha);
float getAlpha () { return (alpha_); }
@@ -146,7 +146,7 @@
Ogre::SceneNode* scene_node_;
Ogre::ManualObject* manual_object_;
ogre_tools::PointCloud* cloud_;
-
+
ros::thread::mutex message_mutex_;
PolygonalMapPtr new_message_;
PolygonalMapPtr current_message_;
@@ -163,4 +163,4 @@
} // namespace ogre_vis
-#endif /* OGRE_VISUALIZER_POLYGON_3D_DISPLAY_H_ */
+#endif /* OGRE_VISUALIZER_POLYGONAL_MAP_DISPLAY_H_ */
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/factory.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/factory.cpp 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/factory.cpp 2009-01-11 22:56:24 UTC (rev 9213)
@@ -42,6 +42,7 @@
#include "displays/particle_cloud_2d_display.h"
#include "displays/poly_line_2d_display.h"
#include "displays/polygonal_map_display.h"
+#include "displays/collision_map_display.h"
#include "displays/map_display.h"
#include "displays/tf_display.h"
@@ -62,6 +63,7 @@
manager->registerFactory( ParticleCloud2DDisplay::getTypeStatic(), ParticleCloud2DDisplay::getDescription(), new DisplayFactoryImpl<ParticleCloud2DDisplay>() );
manager->registerFactory( PolyLine2DDisplay::getTypeStatic(), PolyLine2DDisplay::getDescription(), new DisplayFactoryImpl<PolyLine2DDisplay>() );
manager->registerFactory( PolygonalMapDisplay::getTypeStatic(), PolygonalMapDisplay::getDescription(), new DisplayFactoryImpl<PolygonalMapDisplay>() );
+ manager->registerFactory( CollisionMapDisplay::getTypeStatic(), CollisionMapDisplay::getDescription(), new DisplayFactoryImpl<CollisionMapDisplay>() );
manager->registerFactory( MapDisplay::getTypeStatic(), MapDisplay::getDescription(), new DisplayFactoryImpl<MapDisplay>() );
manager->registerFactory( TFDisplay::getTypeStatic(), TFDisplay::getDescription(), new DisplayFactoryImpl<TFDisplay>() );
}
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.i
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.i 2009-01-11 22:55:11 UTC (rev 9212)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.i 2009-01-11 22:56:24 UTC (rev 9213)
@@ -13,6 +13,7 @@
#include "displays/particle_cloud_2d_display.h"
#include "displays/poly_line_2d_display.h"
#include "displays/polygonal_map_display.h"
+#include "displays/collision_map_display.h"
#include "displays/map_display.h"
#include "displays/tf_display.h"
%}
@@ -31,6 +32,7 @@
%include "displays/particle_cloud_2d_display.h"
%include "displays/poly_line_2d_display.h"
%include "displays/polygonal_map_display.h"
+%include "displays/collision_map_display.h"
%include "displays/map_display.h"
%include "displays/tf_display.h"
@@ -52,6 +54,7 @@
%template(createParticleCloud2DDisplay) createDisplay<ogre_vis::ParticleCloud2DDisplay>;
%template(createPolyLine2DDisplay) createDisplay<ogre_vis::PolyLine2DDisplay>;
%template(createPolygonalMapDisplay) createDisplay<ogre_vis::PolygonalMapDisplay>;
+ %template(createCollisionMapDisplay) createDisplay<ogre_vis::CollisionMapDisplay>;
%template(createMapDisplay) createDisplay<ogre_vis::MapDisplay>;
%template(createTFDisplay) createDisplay<ogre_vis::TFDisplay>;
};
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