| 41 | namespace rviz_imu_plugin { |
| 42 | |
| 43 | ImuAxesVisual::ImuAxesVisual(Ogre::SceneManager* scene_manager, |
| 44 | Ogre::SceneNode* parent_node) |
| 45 | : scale_(0.15), quat_valid_(true), orientation_axes_(nullptr) |
| 46 | { |
| 47 | scene_manager_ = scene_manager; |
| 48 | |
| 49 | // Ogre::SceneNode s form a tree, with each node storing the |
| 50 | // transform (position and orientation) of itself relative to its |
| 51 | // parent. Ogre does the math of combining those transforms when it |
| 52 | // is time to render. |
| 53 | // |
| 54 | // Here we create a node to store the pose of the Imu's header frame |
| 55 | // relative to the RViz fixed frame. |
| 56 | frame_node_ = parent_node->createChildSceneNode(); |
| 57 | } |
| 58 | |
| 59 | ImuAxesVisual::~ImuAxesVisual() |
| 60 | { |
nothing calls this directly
no outgoing calls
no test coverage detected