planning_scene_render.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/rviz_plugin_render_tools/render_shapes.h>
#include <rviz_common/properties/color_property.hpp>
#include <OgreMaterial.h>
 
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(RobotStateVisualization);  // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RenderShapes);             // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(PlanningSceneRender);      // Defines PlanningSceneRenderPtr, ConstPtr, WeakPtr... etc
 
class PlanningSceneRender
{
public:
  PlanningSceneRender(Ogre::SceneNode* root_node, rviz_common::DisplayContext* context,
                      const RobotStateVisualizationPtr& robot);
  ~PlanningSceneRender();
 
  Ogre::SceneNode* getGeometryNode()
  {
    return planning_scene_geometry_node_;
  }
 
  const RobotStateVisualizationPtr& getRobotVisualization()
  {
    return scene_robot_;
  }
 
  void updateRobotPosition(const planning_scene::PlanningSceneConstPtr& scene);
 
  void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene,
                           const Ogre::ColourValue& default_scene_color,
                           const Ogre::ColourValue& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
                           OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
  void clear();
 
private:
  Ogre::SceneNode* planning_scene_geometry_node_;
  rviz_common::DisplayContext* context_;
  RenderShapesPtr render_shapes_;
  RobotStateVisualizationPtr scene_robot_;
};
}  // namespace moveit_rviz_plugin