range_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 RANGE_DISPLAY_H 00032 #define RANGE_DISPLAY_H 00033 00034 #include "rviz/display.h" 00035 #include "rviz/helpers/color.h" 00036 #include "rviz/properties/forwards.h" 00037 00038 #include <sensor_msgs/Range.h> 00039 00040 #include <message_filters/subscriber.h> 00041 #include <tf/message_filter.h> 00042 00043 #include <boost/shared_ptr.hpp> 00044 00045 namespace ogre_tools 00046 { 00047 class Shape; 00048 } 00049 00050 00051 namespace Ogre 00052 { 00053 class SceneNode; 00054 } 00055 00056 namespace rviz 00057 { 00058 00063 class RangeDisplay : public rviz::Display 00064 { 00065 public: 00066 RangeDisplay( const std::string& name, rviz::VisualizationManager* manager ); 00067 virtual ~RangeDisplay(); 00068 00069 void setTopic( const std::string& topic ); 00070 const std::string& getTopic() { return topic_; } 00071 00072 void setColor( const rviz::Color& color ); 00073 const rviz::Color& getColor() { return color_; } 00074 00075 void setBuffer( int buffer ); 00076 int getBuffer() { return buffer_len_; } 00077 00078 void setAlpha( float alpha ); 00079 float getAlpha() { return alpha_; } 00080 00081 // Overrides from Display 00082 virtual void targetFrameChanged() {} 00083 virtual void fixedFrameChanged(); 00084 virtual void createProperties(); 00085 virtual void update(float wall_dt, float ros_dt); 00086 virtual void reset(); 00087 00088 static const char* getTypeStatic() { return "Range"; } 00089 virtual const char* getType() const { return getTypeStatic(); } 00090 static const char* getDescription(); 00091 00092 protected: 00093 void subscribe(); 00094 void unsubscribe(); 00095 void clear(); 00096 void incomingMessage(const sensor_msgs::Range::ConstPtr& msg); 00097 void processMessage(const sensor_msgs::Range::ConstPtr& msg); 00098 00099 // overrides from Display 00100 virtual void onEnable(); 00101 virtual void onDisable(); 00102 00103 std::string topic_; 00104 rviz::Color color_; 00105 float alpha_; 00106 int buffer_len_; 00107 00108 uint32_t messages_received_; 00109 00110 Ogre::SceneNode* scene_node_; 00111 std::vector<ogre_tools::Shape* > cones_; 00112 00113 message_filters::Subscriber<sensor_msgs::Range> sub_; 00114 tf::MessageFilter<sensor_msgs::Range> tf_filter_; 00115 sensor_msgs::Range::ConstPtr current_message_; 00116 00117 rviz::ColorPropertyWPtr color_property_; 00118 rviz::ROSTopicStringPropertyWPtr topic_property_; 00119 rviz::FloatPropertyWPtr alpha_property_; 00120 rviz::IntPropertyWPtr bufferLen_property_; 00121 }; 00122 00123 } // namespace range_plugin 00124 00125 #endif /* RANGE_DISPLAY_H */ 00126