Removed old files

src/perception_visual.cpp

-#include <OGRE/OgreVector3.h>
-#include <OGRE/OgreSceneNode.h>
-#include <OGRE/OgreSceneManager.h>
-
-#include <rviz/ogre_helpers/arrow.h>
-#include <geometry_msgs/Vector3.h>
-
-#include "perception_visual.h"
-
-namespace rviz_multiception
-{
-
-PerceptionVisual::PerceptionVisual(Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node)
-{
-	scene_manager_ = scene_manager;
-
-	// Ogre::SceneNode s form a tree, with each node storing the
-	// transform (position and orientation) of itself relative to its
-	// parent. Ogre does the math of combining those transforms when it
-	// is time to render.
-	//
-	// Here we create a node to store the pose of the header frame
-	// relative to the RViz fixed frame.
-	frame_node_ = parent_node->createChildSceneNode();
-
-	// We create the arrow object within the frame node so that we can
-	// set its position and direction relative to its header frame.
-	pose_arrow_.reset(new rviz::Arrow(scene_manager_, frame_node_));
-}
-
-PerceptionVisual::~PerceptionVisual()
-{
-	// Destroy the frame node since we don't need it anymore.
-	scene_manager_->destroySceneNode(frame_node_);
-}
-
-void PerceptionVisual::setMessage(const multiception::Perception* msg)
-{
-	if(msg==nullptr) return;
-
-	// Convert the geometry_msgs::Vector3 to an Ogre::Vector3.
-	Ogre::Vector3 pose(msg->state.x, msg->state.y, 0);
-	pose_arrow_->setPosition(pose);
-
-	// Find the magnitude of the velocity vector.
-	float length = 2;//msg->state.v;
-
-	// Scale the arrow's thickness in each dimension along with its length.
-	Ogre::Vector3 scale(length, length, length);
-	pose_arrow_->setScale(scale);
-
-	// Set the orientation of the arrow according to the heading.
-	Ogre::Vector3 direction(std::cos(msg->state.yaw), std::sin(msg->state.yaw), 0);
-	pose_arrow_->setDirection(direction);
-}
-
-// Position and orientation are passed through to the SceneNode.
-void PerceptionVisual::setFramePosition(const Ogre::Vector3& position)
-{
-	frame_node_->setPosition(position);
-}
-
-void PerceptionVisual::setFrameOrientation(const Ogre::Quaternion& orientation)
-{
-	frame_node_->setOrientation(orientation);
-}
-
-// Color is passed through to the Arrow object.
-void PerceptionVisual::setColor( float r, float g, float b, float a )
-{
-	pose_arrow_->setColor(r, g, b, a);
-}
-
-} // namespace rviz_multiception
-

src/perception_visual.h

-#ifndef PERCEPTION_VISUAL_H
-#define PERCEPTION_VISUAL_H
-
-#include <multiception/Perception.h>
-
-namespace Ogre
-{
-class Vector3;
-class Quaternion;
-}
-
-namespace rviz
-{
-class Arrow;
-}
-
-namespace rviz_multiception
-{
-
-// Declare the visual class for this display.
-//
-// Each instance of PerceptionVisual represents the visualization of a single
-// multiception::Perception message. Currently it just shows an arrow with
-// the direction and magnitude of the acceleration vector, but could
-// easily be expanded to include more of the message data.
-class PerceptionVisual
-{
-public:
-	// Constructor. Creates the visual stuff and puts it into the
-	// scene, but in an unconfigured state.
-	PerceptionVisual(Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node);
-
-	// Destructor. Removes the visual stuff from the scene.
-	virtual ~PerceptionVisual();
-
-	// Configure the visual to show the data in the message.
-	void setMessage(const multiception::Perception* msg);
-
-	// Set the pose of the coordinate frame the message refers to.
-	// These could be done inside setMessage(), but that would require
-	// calls to FrameManager and error handling inside setMessage(),
-	// which doesn't seem as clean. This way PerceptionVisual is only
-	// responsible for visualization.
-	void setFramePosition(const Ogre::Vector3& position);
-	void setFrameOrientation(const Ogre::Quaternion& orientation);
-
-	// Set the color and alpha of the visual, which are user-editable
-	// parameters and therefore don't come from the Imu message.
-	void setColor(float r, float g, float b, float a);
-
-private:
-	// The object implementing the actual arrow shape
-	boost::shared_ptr<rviz::Arrow> pose_arrow_;
-
-	// A SceneNode whose pose is set to match the coordinate frame of
-	// the Imu message header.
-	Ogre::SceneNode* frame_node_;
-
-	// The SceneManager, kept here only so the destructor can ask it to
-	// destroy the ``frame_node_``.
-	Ogre::SceneManager* scene_manager_;
-};
-
-} // namespace rviz_multiception
-
-#endif // PERCEPTION_VISUAL_H