| 41 | namespace rviz_imu_plugin { |
| 42 | |
| 43 | ImuAccVisual::ImuAccVisual(Ogre::SceneManager* scene_manager, |
| 44 | Ogre::SceneNode* parent_node) |
| 45 | : acc_vector_(NULL), |
| 46 | quat_valid_(true), |
| 47 | arrow_length_(9.81), |
| 48 | arrow_radius_(0.50), |
| 49 | head_length_(1.00), |
| 50 | head_radius_(1.00), |
| 51 | scale_(0.05), |
| 52 | alpha_(1.0), |
| 53 | color_(1.0, 1.0, 0.0), |
| 54 | derotated_(true) |
| 55 | { |
| 56 | scene_manager_ = scene_manager; |
| 57 | |
| 58 | // Ogre::SceneNode s form a tree, with each node storing the |
| 59 | // transform (position and orientation) of itself relative to its |
| 60 | // parent. Ogre does the math of combining those transforms when it |
| 61 | // is time to render. |
| 62 | // |
| 63 | // Here we create a node to store the pose of the Imu's header frame |
| 64 | // relative to the RViz fixed frame. |
| 65 | frame_node_ = parent_node->createChildSceneNode(); |
| 66 | } |
| 67 | |
| 68 | ImuAccVisual::~ImuAccVisual() |
| 69 | { |
nothing calls this directly
no outgoing calls
no test coverage detected