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Add particle cloud display plugin for RViz #1688
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Merged
SteveMacenski
merged 5 commits into
ros-navigation:main
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naiveHobo:feature/pf_plugin_rviz2
Jan 6, 2021
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54b1043
Add particle cloud display rviz plugin
naiveHobo 61f8638
General refactoring
naiveHobo fdfaec9
Fix header guards
naiveHobo 3a9d5c3
Update bringup rviz files and default values
naiveHobo 528107d
Merge branch 'main' of github.com:ros-planning/navigation2 into featu…
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95 changes: 95 additions & 0 deletions
95
nav2_rviz_plugins/include/nav2_rviz_plugins/flat_weighted_arrows_array.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| /* | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * Copyright (c) 2018, Bosch Software Innovations GmbH. | ||
| * Copyright (c) 2020, Sarthak Mittal | ||
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|
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| * 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. | ||
| */ | ||
|
|
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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. | ||
|
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| #ifndef NAV2_RVIZ_PLUGINS__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
| #define NAV2_RVIZ_PLUGINS__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
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| #include <vector> | ||
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| #include <OgreManualObject.h> | ||
| #include <OgreMaterialManager.h> | ||
| #include <OgreSceneNode.h> | ||
| #include <OgreVector3.h> | ||
| #include <OgreQuaternion.h> | ||
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| #include "nav2_rviz_plugins/particle_cloud_display.hpp" | ||
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| namespace nav2_rviz_plugins | ||
| { | ||
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| struct OgrePoseWithWeight; | ||
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| class FlatWeightedArrowsArray | ||
| { | ||
| public: | ||
| explicit FlatWeightedArrowsArray(Ogre::SceneManager * scene_manager_); | ||
| ~FlatWeightedArrowsArray(); | ||
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| 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(); | ||
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| private: | ||
| void setManualObjectMaterial(); | ||
| void setManualObjectVertices( | ||
| const Ogre::ColourValue & color, | ||
| float min_length, | ||
| float max_length, | ||
| const std::vector<nav2_rviz_plugins::OgrePoseWithWeight> & poses); | ||
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| Ogre::SceneManager * scene_manager_; | ||
| Ogre::ManualObject * manual_object_; | ||
| Ogre::MaterialPtr material_; | ||
| }; | ||
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| } // namespace nav2_rviz_plugins | ||
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| #endif // NAV2_RVIZ_PLUGINS__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
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