117 lines
3.4 KiB
C++
117 lines
3.4 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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#ifndef _ROAD2D_HH_
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#define _ROAD2D_HH_
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#include <string>
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#include <vector>
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#include <list>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/Events.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Spline.hh"
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#include "gazebo/rendering/Visual.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace rendering
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{
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class Road Road.hh rendering/rendering.hh
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/// \brief Used to render a strip of road.
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class GZ_RENDERING_VISIBLE Road2d
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{
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/// \brief Constructor
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public: Road2d();
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/// \brief Destructor
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public: virtual ~Road2d();
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/// \brief Load the visual using a parent visual.
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/// \param[in] _parent Pointer to the parent visual.
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public: void Load(VisualPtr _parent);
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/// \brief Process all received messages
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private: void PreRender();
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/// \brief Recieve a road msg
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private: void OnRoadMsg(ConstRoadPtr &_msg);
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/// \brief A road segment
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private: class Segment : public Ogre::SimpleRenderable
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{
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/// \brief Load the road segment from message data.
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/// \param[in] _msg The robot data.
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public: void Load(msgs::Road _msg);
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/// \internal
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/// \brief Implementation of Ogre::SimpleRenderable
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public: virtual Ogre::Real getBoundingRadius() const;
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/// \internal
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/// \brief Implementation of Ogre::SimpleRenderable
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public: virtual Ogre::Real getSquaredViewDepth(
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const Ogre::Camera* cam) const;
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/// \brief Name of the road.
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public: std::string name;
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/// \brief Point that make up the middle of the road.
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public: std::vector<ignition::math::Vector3d> points;
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/// \brief Width of the road.
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public: double width;
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/// \brief Texture of the road
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public: std::string texture;
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};
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/// \def RoadMsgs_L
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/// \brief List of road messages
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typedef std::list<boost::shared_ptr<msgs::Road const> > RoadMsgs_L;
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/// \brief List of messages to process.
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private: RoadMsgs_L msgs;
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/// \brief All the road segments.
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private: std::vector<Road2d::Segment*> segments;
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/// \brief The parent visual.
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private: VisualPtr parent;
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/// \brief Handles communication.
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private: transport::NodePtr node;
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/// \brief Subscribes to the road message topic.
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private: transport::SubscriberPtr sub;
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/// \brief All the event connections.
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private: std::vector<event::ConnectionPtr> connections;
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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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