imu_visual.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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#ifndef IMU_VISUAL_H
#define IMU_VISUAL_H
 
#include <sensor_msgs/Imu.h>
#include <rviz/ogre_helpers/arrow.h>
 
using namespace rviz;
using namespace Ogre;
 
namespace smacc_rviz_plugin
{
 
// BEGIN_TUTORIAL
// Declare the visual class for this display.
//
// Each instance of ImuVisual represents the visualization of a single
// sensor_msgs::Imu message.  Currently it just shows an arrow with
// the direction and magnitude of the acceleration vector, but could
// easily be expanded to include more of the message data.
class ImuVisual
{
public:
  // Constructor.  Creates the visual stuff and puts it into the
  // scene, but in an unconfigured state.
  ImuVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node );
 
  // Destructor.  Removes the visual stuff from the scene.
  virtual ~ImuVisual();
 
  // Configure the visual to show the data in the message.
  void setMessage( const sensor_msgs::Imu::ConstPtr& msg );
 
  // Set the pose of the coordinate frame the message refers to.
  // These could be done inside setMessage(), but that would require
  // calls to FrameManager and error handling inside setMessage(),
  // which doesn't seem as clean.  This way ImuVisual is only
  // responsible for visualization.
  void setFramePosition( const Ogre::Vector3& position );
  void setFrameOrientation( const Ogre::Quaternion& orientation );
 
  // Set the color and alpha of the visual, which are user-editable
  // parameters and therefore don't come from the Imu message.
  void setColor( float r, float g, float b, float a );
 
private:
  // The object implementing the actual arrow shape
  boost::shared_ptr<rviz::Arrow> acceleration_arrow_;
 
  // A SceneNode whose pose is set to match the coordinate frame of
  // the Imu message header.
  Ogre::SceneNode* frame_node_;
 
  // The SceneManager, kept here only so the destructor can ask it to
  // destroy the ``frame_node_``.
  Ogre::SceneManager* scene_manager_;
};
// END_TUTORIAL
 
} // end namespace rviz_plugin_tutorials
 
#endif // IMU_VISUAL_H