plan_route_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <vector>
36 
37 #include <mapviz/mapviz_plugin.h>
38 
39 // QT libraries
40 #include <QGLWidget>
41 #include <QObject>
42 #include <QWidget>
43 
44 // ROS libraries
45 #include <ros/ros.h>
46 #include <tf/transform_datatypes.h>
47 
48 // Mapviz libraries
49 #include <mapviz/map_canvas.h>
50 #include <swri_route_util/route.h>
51 
52 // Messages
53 #include <geometry_msgs/Pose.h>
54 #include <marti_nav_msgs/Route.h>
55 
56 // QT autogenerated files
57 #include "ui_plan_route_config.h"
58 
59 namespace mapviz_plugins
60 {
62  {
63  Q_OBJECT
64 
65  public:
66 
68  virtual ~PlanRoutePlugin();
69 
70  bool Initialize(QGLWidget* canvas);
71  void Shutdown()
72  {
73  }
74 
75  void Draw(double x, double y, double scale);
76  void Paint(QPainter* painter, double x, double y, double scale);
77 
78  void Transform() {};
79 
80  void LoadConfig(const YAML::Node& node, const std::string& path);
81  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
82 
83  QWidget* GetConfigWidget(QWidget* parent);
84 
86  {
87  return true;
88  }
89 
90  protected:
91  void PrintError(const std::string& message);
92  void PrintInfo(const std::string& message);
93  void PrintWarning(const std::string& message);
94  bool eventFilter(QObject *object, QEvent* event);
95  bool handleMousePress(QMouseEvent *);
96  bool handleMouseRelease(QMouseEvent *);
97  bool handleMouseMove(QMouseEvent *);
98 
99  protected Q_SLOTS:
100  void PublishRoute();
101  void PlanRoute();
102  void Clear();
103  void VisibilityChanged(bool);
104 
105  private:
106  void Retry(const ros::TimerEvent& e);
107 
108  Ui::plan_route_config ui_;
109  QWidget* config_widget_;
111 
112  std::string route_topic_;
113 
116 
119 
120  std::vector<geometry_msgs::Pose> waypoints_;
121 
126 
127  qint64 max_ms_;
129  };
130 }
131 
132 #endif // MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
mapviz_plugins::PlanRoutePlugin::PrintInfo
void PrintInfo(const std::string &message)
Definition: plan_route_plugin.cpp:186
mapviz_plugins::PlanRoutePlugin::SaveConfig
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
Definition: plan_route_plugin.cpp:479
mapviz_plugins::PlanRoutePlugin::route_topic_
std::string route_topic_
Definition: plan_route_plugin.h:112
mapviz_plugins::PlanRoutePlugin::map_canvas_
mapviz::MapCanvas * map_canvas_
Definition: plan_route_plugin.h:110
mapviz_plugins::PlanRoutePlugin::waypoints_
std::vector< geometry_msgs::Pose > waypoints_
Definition: plan_route_plugin.h:120
ros::Publisher
boost::shared_ptr< Route >
mapviz_plugins::PlanRoutePlugin::mouse_down_time_
qint64 mouse_down_time_
Definition: plan_route_plugin.h:125
mapviz_plugins::PlanRoutePlugin::Paint
void Paint(QPainter *painter, double x, double y, double scale)
Definition: plan_route_plugin.cpp:423
ros.h
mapviz_plugins::PlanRoutePlugin
Definition: plan_route_plugin.h:61
mapviz_plugins::PlanRoutePlugin::PublishRoute
void PublishRoute()
Definition: plan_route_plugin.cpp:117
mapviz_plugins::PlanRoutePlugin::mouse_down_pos_
QPointF mouse_down_pos_
Definition: plan_route_plugin.h:124
mapviz_plugins::PlanRoutePlugin::Draw
void Draw(double x, double y, double scale)
Definition: plan_route_plugin.cpp:375
mapviz_plugins::PlanRoutePlugin::VisibilityChanged
void VisibilityChanged(bool)
Definition: plan_route_plugin.cpp:105
mapviz_plugins::PlanRoutePlugin::retry_timer_
ros::Timer retry_timer_
Definition: plan_route_plugin.h:115
mapviz_plugins::PlanRoutePlugin::handleMouseMove
bool handleMouseMove(QMouseEvent *)
Definition: plan_route_plugin.cpp:350
mapviz_plugins::PlanRoutePlugin::Clear
void Clear()
Definition: plan_route_plugin.cpp:175
mapviz_plugins::PlanRoutePlugin::is_mouse_down_
bool is_mouse_down_
Definition: plan_route_plugin.h:123
mapviz_plugins::PlanRoutePlugin::~PlanRoutePlugin
virtual ~PlanRoutePlugin()
Definition: plan_route_plugin.cpp:97
mapviz_plugins::PlanRoutePlugin::SupportsPainting
bool SupportsPainting()
Definition: plan_route_plugin.h:85
mapviz_plugins::PlanRoutePlugin::Retry
void Retry(const ros::TimerEvent &e)
Definition: plan_route_plugin.cpp:170
mapviz_plugins::PlanRoutePlugin::failed_service_
bool failed_service_
Definition: plan_route_plugin.h:117
mapviz_plugins::PlanRoutePlugin::handleMouseRelease
bool handleMouseRelease(QMouseEvent *)
Definition: plan_route_plugin.cpp:295
mapviz_plugins::PlanRoutePlugin::max_ms_
qint64 max_ms_
Definition: plan_route_plugin.h:127
ros::TimerEvent
mapviz_plugins::PlanRoutePlugin::PrintError
void PrintError(const std::string &message)
Definition: plan_route_plugin.cpp:181
mapviz_plugins::PlanRoutePlugin::PlanRoutePlugin
PlanRoutePlugin()
Definition: plan_route_plugin.cpp:65
route.h
mapviz_plugins::PlanRoutePlugin::LoadConfig
void LoadConfig(const YAML::Node &node, const std::string &path)
Definition: plan_route_plugin.cpp:449
mapviz::MapCanvas
mapviz_plugins::PlanRoutePlugin::eventFilter
bool eventFilter(QObject *object, QEvent *event)
Definition: plan_route_plugin.cpp:214
mapviz_plugins::PlanRoutePlugin::route_pub_
ros::Publisher route_pub_
Definition: plan_route_plugin.h:114
mapviz_plugins::PlanRoutePlugin::Shutdown
void Shutdown()
Definition: plan_route_plugin.h:71
transform_datatypes.h
mapviz_plugins::PlanRoutePlugin::Initialize
bool Initialize(QGLWidget *canvas)
Definition: plan_route_plugin.cpp:203
mapviz_plugins::PlanRoutePlugin::handleMousePress
bool handleMousePress(QMouseEvent *)
Definition: plan_route_plugin.cpp:229
mapviz_plugins::PlanRoutePlugin::selected_point_
int selected_point_
Definition: plan_route_plugin.h:122
mapviz_plugins::PlanRoutePlugin::PlanRoute
void PlanRoute()
Definition: plan_route_plugin.cpp:132
mapviz_plugins::PlanRoutePlugin::max_distance_
qreal max_distance_
Definition: plan_route_plugin.h:128
mapviz_plugins::PlanRoutePlugin::GetConfigWidget
QWidget * GetConfigWidget(QWidget *parent)
Definition: plan_route_plugin.cpp:196
mapviz::MapvizPlugin
mapviz_plugins::PlanRoutePlugin::PrintWarning
void PrintWarning(const std::string &message)
Definition: plan_route_plugin.cpp:191
mapviz_plugins::PlanRoutePlugin::ui_
Ui::plan_route_config ui_
Definition: plan_route_plugin.h:108
mapviz_plugins::PlanRoutePlugin::config_widget_
QWidget * config_widget_
Definition: plan_route_plugin.h:109
mapviz_plugins
Definition: attitude_indicator_plugin.h:61
ros::Timer
map_canvas.h
mapviz_plugins::PlanRoutePlugin::route_preview_
swri_route_util::RoutePtr route_preview_
Definition: plan_route_plugin.h:118
mapviz_plugin.h
mapviz_plugins::PlanRoutePlugin::Transform
void Transform()
Definition: plan_route_plugin.h:78


mapviz_plugins
Author(s): Marc Alban
autogenerated on Sun Sep 8 2024 02:27:14