odometry_display.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00031 #ifndef RVIZ_ODOMETRY_DISPLAY_H_ 00032 #define RVIZ_ODOMETRY_DISPLAY_H_ 00033 00034 #include "rviz/display.h" 00035 #include "rviz/helpers/color.h" 00036 #include "rviz/properties/forwards.h" 00037 00038 #include <nav_msgs/Odometry.h> 00039 00040 #include <boost/shared_ptr.hpp> 00041 #include <boost/thread/mutex.hpp> 00042 00043 #include <message_filters/subscriber.h> 00044 #include <tf/message_filter.h> 00045 00046 #include <deque> 00047 00048 namespace ogre_tools 00049 { 00050 class Arrow; 00051 } 00052 00053 namespace Ogre 00054 { 00055 class SceneNode; 00056 } 00057 00058 namespace rviz 00059 { 00060 00065 class OdometryDisplay : public Display 00066 { 00067 public: 00068 OdometryDisplay( const std::string& name, VisualizationManager* manager ); 00069 virtual ~OdometryDisplay(); 00070 00071 void setTopic( const std::string& topic ); 00072 const std::string& getTopic() { return topic_; } 00073 00074 void setColor( const Color& color ); 00075 const Color& getColor() { return color_; } 00076 00077 void setPositionTolerance( float tol ); 00078 float getPositionTolerance() { return position_tolerance_; } 00079 00080 void setAngleTolerance( float tol ); 00081 float getAngleTolerance() { return angle_tolerance_; } 00082 00083 void setKeep(uint32_t keep); 00084 uint32_t getKeep() { return keep_; } 00085 00086 // Overrides from Display 00087 virtual void targetFrameChanged(); 00088 virtual void fixedFrameChanged(); 00089 virtual void createProperties(); 00090 virtual void update(float wall_dt, float ros_dt); 00091 virtual void reset(); 00092 00093 protected: 00094 void subscribe(); 00095 void unsubscribe(); 00096 void clear(); 00097 00098 void incomingMessage( const nav_msgs::Odometry::ConstPtr& message ); 00099 void processMessage( const nav_msgs::Odometry::ConstPtr& message ); 00100 void transformArrow( const nav_msgs::Odometry::ConstPtr& message, ogre_tools::Arrow* arrow ); 00101 00102 // overrides from Display 00103 virtual void onEnable(); 00104 virtual void onDisable(); 00105 00106 std::string topic_; 00107 Color color_; 00108 uint32_t keep_; 00109 00110 typedef std::deque<ogre_tools::Arrow*> D_Arrow; 00111 D_Arrow arrows_; 00112 00113 Ogre::SceneNode* scene_node_; 00114 00115 float position_tolerance_; 00116 float angle_tolerance_; 00117 00118 uint32_t messages_received_; 00119 00120 nav_msgs::Odometry::ConstPtr last_used_message_; 00121 message_filters::Subscriber<nav_msgs::Odometry> sub_; 00122 tf::MessageFilter<nav_msgs::Odometry> tf_filter_; 00123 00124 ColorPropertyWPtr color_property_; 00125 ROSTopicStringPropertyWPtr topic_property_; 00126 FloatPropertyWPtr position_tolerance_property_; 00127 FloatPropertyWPtr angle_tolerance_property_; 00128 IntPropertyWPtr keep_property_; 00129 }; 00130 00131 } // namespace rviz 00132 00133 #endif /* RVIZ_ODOMETRY_DISPLAY_H_ */