/usr/include/kido/dynamics/ArrowShape.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_ARROWSHAPE_HPP_
#define KIDO_DYNAMICS_ARROWSHAPE_HPP_
#include "kido/dynamics/MeshShape.hpp"
namespace kido {
namespace dynamics {
class ArrowShape : public MeshShape
{
public:
struct Properties
{
/// _radius affects the thickness of the arrow. _headRadiusScale can be
/// [1,INFINITY) and is a multiplier that affects the wideness of the
/// beginning of the arrow head. _headLengthScale can be [0,1] and indicates
/// what fraction of the arrow length is to be the conical head.
/// _minHeadLength will prevent the arrow head from being shorter than the
/// given value; _maxHeadLength will prevent it from being longer than the
/// given value. Set _minHeadLength and _maxHeadLength to the same value to
/// fix the size of the arrow head.
Properties(double _radius=0.01, double _headRadiusScale=2.0,
double _headLengthScale=0.15,
double _minHeadLength=0, double _maxHeadLength=INFINITY,
bool _doubleArrow=false);
double mRadius;
double mHeadRadiusScale;
double mHeadLengthScale;
double mMinHeadLength;
double mMaxHeadLength;
bool mDoubleArrow;
};
/// This will produce an arrow that reaches from _tail to _head with the given
/// properties.
ArrowShape(const Eigen::Vector3d& _tail, const Eigen::Vector3d& _head,
const Properties& _properties = Properties(),
const Eigen::Vector4d& _color=Eigen::Vector4d(0.5,0.5,1.0,1.0),
size_t _resolution=10);
/// Set the positions of the tail and head of the arrow without changing any
/// settings
void setPositions(const Eigen::Vector3d& _tail, const Eigen::Vector3d& _head);
/// Get the location of the tail of this arrow
const Eigen::Vector3d& getTail() const;
/// Get the location of the head of this arrow
const Eigen::Vector3d& getHead() const;
/// Set the properties of this arrow
void setProperties(const Properties& _properties);
/// Set the color of this arrow
void setRGBA(const Eigen::Vector4d& _color) override;
/// Get the properties of this arrow
const Properties& getProperties() const;
void configureArrow(const Eigen::Vector3d& _tail,
const Eigen::Vector3d& _head,
const Properties& _properties);
protected:
void instantiate(size_t resolution);
Eigen::Vector3d mTail;
Eigen::Vector3d mHead;
Properties mProperties;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_ARROWSHAPE_HPP_
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