Marker.hh

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/*
 * Copyright (C) 2019 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.
 *
 */
#ifndef IGNITION_RENDERING_MARKER_HH_
#define IGNITION_RENDERING_MARKER_HH_

#include <ignition/common/Time.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>
#include "ignition/rendering/config.hh"
#include "ignition/rendering/Geometry.hh"
#include "ignition/rendering/Object.hh"
#include "ignition/rendering/RenderTypes.hh"

namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    enum IGNITION_RENDERING_VISIBLE MarkerType
    {
      MT_NONE           = 0,

      MT_BOX            = 1,

      MT_CYLINDER       = 2,

      MT_LINE_STRIP     = 3,

      MT_LINE_LIST      = 4,

      MT_POINTS         = 5,

      MT_SPHERE         = 6,

      MT_TEXT           = 7,

      MT_TRIANGLE_FAN   = 8,

      MT_TRIANGLE_LIST  = 9,

      MT_TRIANGLE_STRIP = 10,

      MT_CAPSULE        = 11,
    };

    class IGNITION_RENDERING_VISIBLE Marker :
      public virtual Geometry
    {
      protected: Marker();

      public: virtual ~Marker();

      public: virtual void SetLifetime(
                  const std::chrono::steady_clock::duration &_lifetime) = 0;

      public: virtual std::chrono::steady_clock::duration Lifetime() const = 0;

      public: virtual void SetLayer(int32_t _layer) = 0;

      public: virtual int32_t Layer() const = 0;

      public: virtual void SetType(
                  const ignition::rendering::MarkerType _markerType) = 0;

      public: virtual ignition::rendering::MarkerType Type() const = 0;

      public: virtual void SetSize(double _size) = 0;

      public: virtual double Size() const = 0;

      public: virtual void ClearPoints() = 0;

      public: virtual void AddPoint(double _x,
                  double _y, double _z,
                  const ignition::math::Color &_color) = 0;

      public: virtual void AddPoint(const ignition::math::Vector3d &_pt,
                  const ignition::math::Color &_color) = 0;

      public: virtual void SetPoint(unsigned int _index,
                  const ignition::math::Vector3d &_value) = 0;
    };
    }
  }
}

#endif