Grid.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
// This was leveraged from rviz.

#ifndef GAZEBO_RENDERING_GRID_HH_
#define GAZEBO_RENDERING_GRID_HH_

#include <memory>
#include <string>
#include <vector>

#include <ignition/math/Color.hh>

#include "gazebo/util/system.hh"

namespace Ogre
{
  class SceneNode;
  class Any;
}

namespace gazebo
{
  namespace rendering
  {
    class Scene;

    // Forward declare provate data
    class GridPrivate;


    class GZ_RENDERING_VISIBLE Grid
    {
      public: Grid(Scene *_scene, const uint32_t _cellCount,
          const float _cellLength, const ignition::math::Color &_color);

      public: ~Grid();

      public: void Init();

      public: void Enable(const bool _enable);

      public: VisualPtr GridVisual() const;

      public: void SetUserData(const Ogre::Any &_data);

      public: void SetColor(const ignition::math::Color &_color);

      public: ignition::math::Color Color() const;

      public: void SetCellCount(const uint32_t _count);

      public: uint32_t CellCount() const;

      public: void SetCellLength(const float _len);

      public: float CellLength() const;

      public: void SetHeight(const uint32_t _count);

      public: uint32_t Height() const;

      public: void SetHeightOffset(const double _offset);

      public: double HeightOffset() const;

      private: void Create();

      private: std::unique_ptr<GridPrivate> dataPtr;
    };
  }
}
#endif