tutorials/Point3BasicVisualization.C

Tutorial: Creating a 3D Visualization

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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#include <visualization/Visualization3DBasic.h>
#include <geometry/Point.h>
#include <visualization/3d/MeshObject.h>

using namespace mira;

class Point3BasicVisualization : public Visualization3DBasic<Point3f>
{
MIRA_META_OBJECT(Point3BasicVisualization,
            ("Name", "Point")
            ("Category", "Geomtery")
            ("Description", "Visualizes a point."))

public:

    Point3BasicVisualization() :
        Visualization3DBasic<Point3f>("Point"),
        mPoint(NULL)
    {}

    virtual ~Point3BasicVisualization()
    {
        delete mPoint;
    }

    virtual void setupScene(Ogre::SceneManager* mgr, Ogre::SceneNode* node)
    {
        mPoint = new MeshObject("Sphere.mesh", mgr, node);
    }

protected:

    virtual void dataChanged(ChannelRead<Point3f> point)
    {
        Ogre::Vector3 p = OgreUtils::toOgreVector(point->value());
        mPoint->setPosition(p);
    }

protected:

    MeshObject* mPoint;
};

MIRA_CLASS_SERIALIZATION(Point3BasicVisualization, mira::Visualization3D);