FloorVis.h

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#pragma once
 
#include <string>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem_objects/aron_forward_declarations.h>
 
namespace armarx
{
    using PropertyDefinitionsPtr = IceUtil::Handle<class PropertyDefinitionContainer>;
}
 
namespace armarx::armem::server::wm
{
    class CoreSegment;
    class Entity;
} // namespace armarx::armem::server::wm
 
namespace armarx::armem::server::obj::clazz
{
    class FloorVis
    {
    public:
        FloorVis();
 
        void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
        void setArViz(armarx::viz::Client arviz);
 
        /// Draw a the floor as a simox object.
        /// @see `makeFloorObject()`
        void updateFloorObject(const wm::CoreSegment& classCoreSegment);
 
        armarx::viz::Object makeFloorObject(const wm::Entity& classEntity);
        armarx::viz::Object makeFloorObject(const std::string& name,
                                            const arondto::ObjectClass& objectClass);
 
 
    public:
        struct Properties
        {
            bool show = true;
 
            std::string entityName = "Building/floor-20x20";
            std::string layerName = "Floor";
            float height = -1;
 
            void define(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
        };
 
    private:
        Properties properties;
 
        armarx::viz::Client arviz;
    };
} // namespace armarx::armem::server::obj::clazz