70 lines
2.1 KiB
C++
70 lines
2.1 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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/* Desc: RFID Sensor Visualization Class
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* Author:
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* Date:
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/transport/transport.hh"
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#include "gazebo/rendering/Conversions.hh"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/common/MeshManager.hh"
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#include "gazebo/rendering/RFIDVisualPrivate.hh"
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#include "gazebo/rendering/RFIDVisual.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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RFIDVisual::RFIDVisual(const std::string &_name, VisualPtr _vis,
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const std::string &_topicName)
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: Visual(*new RFIDVisualPrivate, _name, _vis)
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{
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RFIDVisualPrivate *dPtr =
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reinterpret_cast<RFIDVisualPrivate *>(this->dataPtr);
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dPtr->type = VT_SENSOR;
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dPtr->node = transport::NodePtr(new transport::Node());
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dPtr->node->Init(dPtr->scene->Name());
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dPtr->rfidSub = dPtr->node->Subscribe(_topicName, &RFIDVisual::OnScan, this);
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common::MeshManager::Instance()->CreateSphere("rfid_sphere", 5.0, 20, 20);
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this->AttachMesh("rfid_sphere");
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this->SetMaterial("Gazebo/BlueTransparent");
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}
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/////////////////////////////////////////////////
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RFIDVisual::~RFIDVisual()
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{
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}
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/////////////////////////////////////////////////
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void RFIDVisual::OnScan(ConstPosePtr &/*_msg*/)
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{
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// math::Vector3 pt = msgs::Convert(_msg->position());
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// this->sceneNode->setPosition(Conversions::Convert(pt));
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}
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