Marker.h

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/*
 * 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
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 *   met: http://www.gnu.org/copyleft/gpl.html.
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 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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 */

#ifndef _MIRA_MARKER_H_
#define _MIRA_MARKER_H_

#include <image/Color.h>
#include <transform/Pose.h>
#include <geometry/Line.h>
#include <geometry/Point.h>
#include <geometry/Size.h>
#include <geometry/Polygon.h>

namespace mira { namespace model {


class MarkerBase : public Object
{
    MIRA_OBJECT(MarkerBase)
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    MarkerBase() :
        color(Color::White),
        scale(1.0f, 1.0f, 1.0f) {}

    MarkerBase(const Pose3& pos, const Color::RGBA& col=Color::White, const Size3f& s=Size3f(1.0f,1.0f,1.0f)) :
        position(pos),
        color(col),
        scale(s) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Position", position, "");
        r.member("Color", color, "");
        r.member("Scale", scale, "");
    }

    Pose3 position;
    Color::RGBA color;
    Size3f scale;
};

typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;


class BoxMarker : public MarkerBase
{
    MIRA_OBJECT(BoxMarker)
public:
    BoxMarker() : MarkerBase() {}
    BoxMarker(const Pose3& position, const Color::RGBA& color=Color::White, const Size3f& scale=Size3f(1.0f,1.0f,1.0f)) :
        MarkerBase(position, color, scale) {}
};

typedef boost::shared_ptr<BoxMarker> BoxMarkerPtr;


class SphereMarker : public MarkerBase
{
    MIRA_OBJECT(SphereMarker)
public:
    SphereMarker() : MarkerBase() {}
    SphereMarker(const Pose3& position, const Color::RGBA& color=Color::White, const Size3f& scale=Size3f(1.0f,1.0f,1.0f)) :
        MarkerBase(position, color, scale) {}
};

typedef boost::shared_ptr<SphereMarker> SphereMarkerPtr;


class CylinderMarker : public MarkerBase
{
    MIRA_OBJECT(CylinderMarker)
public:
    CylinderMarker() : MarkerBase() {}
    CylinderMarker(const Pose3& position, const Color::RGBA& color=Color::White, const Size3f& scale=Size3f(1.0f,1.0f,1.0f)) :
        MarkerBase(position, color, scale) {}
};

typedef boost::shared_ptr<CylinderMarker> CylinderMarkerPtr;


class ConeMarker : public MarkerBase
{
    MIRA_OBJECT(ConeMarker)
public:
    ConeMarker() : MarkerBase() {}
    ConeMarker(const Pose3& position, const Color::RGBA& color=Color::White, const Size3f& scale=Size3f(1.0f,1.0f,1.0f)) :
        MarkerBase(position, color, scale) {}
};

typedef boost::shared_ptr<ConeMarker> ConeMarkerPtr;


class TextMarker : public MarkerBase
{
    MIRA_OBJECT(TextMarker)
public:
    TextMarker() : MarkerBase() {}
    TextMarker(const std::string& str, const Pose3& position, const Color::RGBA& color=Color::White, const Size3f& scale=Size3f(1.0f,1.0f,1.0f)) :
        MarkerBase(position, color, scale), text(str) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("Text", text, "");
    }
    std::string text;
};

typedef boost::shared_ptr<TextMarker> TextMarkerPtr;


class ArrowMarker : public MarkerBase
{
    MIRA_OBJECT(ArrowMarker)
};

typedef boost::shared_ptr<ArrowMarker> ArrowMarkerPtr;

class PointedArrowMarker : public MarkerBase
{
    MIRA_OBJECT(PointedArrowMarker)
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("Start", start, "");
        r.member("End", end, "");
    }

    Point3f start;
    Point3f end;
};

typedef boost::shared_ptr<PointedArrowMarker> PointedArrowMarkerPtr;


class AxesMarker : public MarkerBase
{
    MIRA_OBJECT(AxesMarker)
public:
    AxesMarker() : MarkerBase(), applyColor(false) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("ApplyColor", applyColor, "");
    }

    bool applyColor;
};

typedef boost::shared_ptr<AxesMarker> AxesMarkerPtr;


class PolygonMarker : public MarkerBase
{
    MIRA_OBJECT(PolygonMarker)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("Polygon", polygon, "");
    }

    Polygon3f polygon;
};

typedef boost::shared_ptr<PolygonMarker> PolygonMarkerPtr;


class LineListMarker : public MarkerBase
{
    MIRA_OBJECT(LineListMarker)
public:
    LineListMarker() : lineWidth(0.01f) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("LineWidth", lineWidth, "", 0.01f);
        r.member("Lines", lines, "");
    }
    float lineWidth;
    std::vector<Line3f> lines;
};

typedef boost::shared_ptr<LineListMarker> LineListMarkerPtr;


class LineStripMarker : public MarkerBase
{
    MIRA_OBJECT(LineStripMarker)
public:
    LineStripMarker() : lineWidth(0.01f) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("LineWidth", lineWidth, "", 0.01f);
        r.member("Points", points, "");
    }
    float lineWidth;
    std::vector<Point3f> points;
};

typedef boost::shared_ptr<LineStripMarker> LineStripMarkerPtr;

class MeshMarker : public MarkerBase
{
    MIRA_OBJECT(MeshMarker)
public:
    MeshMarker() : forceReloadResources(false) {}
    MeshMarker(const std::string& file, bool forceReload = false)
        : meshFile(file), forceReloadResources(false) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MarkerBase);
        r.member("MeshFile", meshFile, "");
        r.member("ForceReloadDir", forceReloadResources, "");
    }

    std::string meshFile;
    bool forceReloadResources;
};

typedef boost::shared_ptr<MeshMarker> MeshMarkerPtr;

struct Marker
{
    enum Command
    {
        CREATE_MODIFY = 0, 
        REMOVE = 1         
    };
    Marker() :
        id(0),
        ns(""),
        command(CREATE_MODIFY) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("ID", id, "");
        r.member("Namespace", ns, "");
        r.member("Command", command, "");
        r.member("Objects", objects, "");
    }
    uint32 id;
    std::string ns;
    Command command;
    std::vector<MarkerBasePtr> objects;
};


}} // namespace

#endif