146 lines
4.2 KiB
C++
146 lines
4.2 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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// This was leveraged from rviz.
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#ifndef _GRID_HH_
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#define _GRID_HH_
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#include <stdint.h>
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#include <vector>
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#include <string>
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// TODO: remove this line
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/common/Color.hh"
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class ManualObject;
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class SceneNode;
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class Any;
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}
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namespace gazebo
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{
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namespace rendering
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{
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class Scene;
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class Grid Grid.hh rendering/rendering.hh
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/// \brief Displays a grid of cells, drawn with lines
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///
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/// Displays a grid of cells, drawn with lines. A grid with an
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/// identity orientation is drawn along the XY plane.
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class GZ_RENDERING_VISIBLE Grid
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{
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/// \brief Constructor
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///
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/// \param[in] _scene The scene this object is part of
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/// \param[in] _cellCount The number of cells to draw
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/// \param[in] _cellLength The size of each cell
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/// \param[in] _lineWidth The width of the lines to use
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/// \param[in] _color The color of the grid
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public: Grid(Scene *_scene, uint32_t _cellCount, float _cellLength,
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float _lineWidth, const common::Color &_color);
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/// \brief Destructor
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public: ~Grid();
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/// \brief Initialize the grid
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public: void Init();
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/// \brief Enable or disable the grid.
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///
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/// \param[in] _enable Set to true to view the grid, false to make
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/// invisible.
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public: void Enable(bool _enable);
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/// \brief Get the Ogre scene node associated with this grid
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/// \return The Ogre scene node associated with this grid
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public: Ogre::SceneNode *GetSceneNode() { return this->sceneNode; }
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/// \brief Sets user data on all ogre objects we own
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/// \param[in] _data The user data
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public: void SetUserData(const Ogre::Any &_data);
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/// \brief Sets the color of the grid
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/// \param[in] _color The grid color
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public: void SetColor(const common::Color &_color);
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/// \brief Return the grid color
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/// \return The grid color
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public: common::Color GetColor() const {return this->color;}
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/// \brief Set the number of cells
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/// \param[in] _count The number of cells
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public: void SetCellCount(uint32_t _count);
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/// \brief Get the number of cells
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public: uint32_t GetCellCount() const {return this->cellCount;}
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/// \brief Set the cell length
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/// \param[in] _len The cell length
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public: void SetCellLength(float _len);
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/// \brief Get the cell length
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/// \return The cell length
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public: float GetCellLength() const {return this->cellLength;}
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/// \brief Set the line width
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/// \param[in] _width The width of the grid
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public: void SetLineWidth(float _width);
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/// \brief Get the width of the grid line
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/// \return The line width
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public: float GetLineWidth() const {return this->lineWidth;}
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/// \brief Set the height of the grid
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/// \param[in] _count Grid height
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public: void SetHeight(uint32_t _count);
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/// \brief Get the height of the grid
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/// \return The height
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public: uint32_t GetHeight() const {return this->height;}
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private: void Create();
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private: Ogre::SceneNode *sceneNode;
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private: Ogre::ManualObject *manualObject;
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private: Ogre::MaterialPtr material;
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private: unsigned int cellCount;
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private: float cellLength;
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private: float lineWidth;
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private: common::Color color;
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private: float heightOffset;
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private: std::string name;
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private: unsigned int height;
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private: Scene *scene;
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};
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/// \}
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}
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}
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#endif
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