void SelectionHandler::updateTrackedBoxes()
{
M_HandleToBox::iterator it = boxes_.begin();
M_HandleToBox::iterator end = boxes_.end();
for (; it != end; ++it)
{
V_AABB aabbs;
Picked p(it->first.first);
p.extra_handles.insert(it->first.second);
getAABBs(Picked(it->first.first), aabbs);
if (!aabbs.empty())
{
Ogre::AxisAlignedBox combined;
V_AABB::iterator aabb_it = aabbs.begin();
V_AABB::iterator aabb_end = aabbs.end();
for (; aabb_it != aabb_end; ++aabb_it)
{
combined.merge(*aabb_it);
}
createBox(std::make_pair(p.handle, it->first.second), combined, "RVIZ/Cyan");
}
}
}
void SelectionHandler::onSelect(const Picked& obj)
{
ROS_DEBUG("Selected 0x%08x", obj.handle);
V_AABB aabbs;
getAABBs(obj, aabbs);
if (!aabbs.empty())
{
Ogre::AxisAlignedBox combined;
V_AABB::iterator it = aabbs.begin();
V_AABB::iterator end = aabbs.end();
for (; it != end; ++it)
{
combined.merge(*it);
}
createBox(std::make_pair(obj.handle, 0ULL), combined, "RVIZ/Cyan");
}
}