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_common/properties/color_property.hpp>
#include <rviz_common/display_context.hpp>
#include <rviz_rendering/objects/shape.hpp>
#include <OgreColourValue.h>
#include <Eigen/Geometry>
#include <memory>
 
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_common::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 Ogre::ColourValue& color, double alpha);
  void updateShapeColors(double r, double g, double b, double a);
  void clear();
 
private:
  rviz_common::DisplayContext* context_;
 
  std::vector<std::unique_ptr<rviz_rendering::Shape> > scene_shapes_;
  std::vector<OcTreeRenderPtr> octree_voxel_grids_;
};
}  // namespace moveit_rviz_plugin