Program Listing for File voxblox_mesh_visual.h¶
↰ Return to documentation for file (voxblox_rviz_plugin/include/voxblox_rviz_plugin/voxblox_mesh_visual.h
)
#ifndef VOXBLOX_RVIZ_PLUGIN_VOXBLOX_MESH_VISUAL_H_
#define VOXBLOX_RVIZ_PLUGIN_VOXBLOX_MESH_VISUAL_H_
#include <OGRE/OgreManualObject.h>
#include <voxblox/core/block_hash.h>
#include <voxblox_msgs/Mesh.h>
namespace voxblox_rviz_plugin {
class VoxbloxMeshVisual {
public:
VoxbloxMeshVisual(Ogre::SceneManager* scene_manager,
Ogre::SceneNode* parent_node);
virtual ~VoxbloxMeshVisual();
void setMessage(const voxblox_msgs::Mesh::ConstPtr& msg);
void setFramePosition(const Ogre::Vector3& position);
void setFrameOrientation(const Ogre::Quaternion& orientation);
private:
Ogre::SceneNode* frame_node_;
Ogre::SceneManager* scene_manager_;
unsigned int instance_number_;
static unsigned int instance_counter_;
voxblox::AnyIndexHashMapType<Ogre::ManualObject*>::type object_map_;
};
} // namespace voxblox_rviz_plugin
#endif // VOXBLOX_RVIZ_PLUGIN_VOXBLOX_MESH_VISUAL_H_