planning_display.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H
#define MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H

#include "rviz/display.h"
#include "rviz/properties/forwards.h"

#include <motion_planning_msgs/DisplayTrajectory.h>
#include <std_msgs/Bool.h>

#include <ros/ros.h>

#include <map>

namespace Ogre
{
class Entity;
class SceneNode;
}

namespace planning_models
{
class KinematicModel;
}

namespace planning_environment
{
class RobotModels;
}

namespace rviz
{
class Robot;
}

namespace motion_planning_rviz_plugin
{

class PlanningDisplay : public rviz::Display
{
public:
  PlanningDisplay( const std::string& name, rviz::VisualizationManager* manager );
  virtual ~PlanningDisplay();

  void initialize( const std::string& description_param, const std::string& kinematic_path_topic );

  void setRobotDescription( const std::string& description_param );

  void setTopic( const std::string& topic );

  void setStateDisplayTime( float time );

  void setVisualVisible( bool visible );

  void setCollisionVisible( bool visible );

  const std::string& getRobotDescription() { return description_param_; }
  const std::string& getTopic() { return kinematic_path_topic_; }
  float getStateDisplayTime() { return state_display_time_; }

  float getAlpha() { return alpha_; }
  void setAlpha( float alpha );

  bool getLoopDisplay() { return loop_display_; }
  void setLoopDisplay(bool loop_display);
        
  bool isVisualVisible();
  bool isCollisionVisible();

  virtual void update(float wall_dt, float ros_dt);

  // Overrides from Display
  virtual void targetFrameChanged();
  virtual void fixedFrameChanged() {}
  virtual void createProperties();


protected:
  void subscribe();
  void unsubscribe();

  void advertise();

  void unadvertise();

  void load();

  void incomingJointPath(const motion_planning_msgs::DisplayTrajectory::ConstPtr& msg);

  void calculateRobotPosition();

  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  std::string description_param_;             

  rviz::Robot* robot_;                              

  ros::Subscriber sub_;
  std::string kinematic_path_topic_;
  planning_environment::RobotModels* env_models_;
  boost::shared_ptr<planning_models::KinematicModel> kinematic_model_;
  motion_planning_msgs::DisplayTrajectory::ConstPtr incoming_kinematic_path_message_;
  motion_planning_msgs::DisplayTrajectory::ConstPtr displaying_kinematic_path_message_;
  bool new_kinematic_path_;
  bool animating_path_;
  int current_state_;
  bool loop_display_;
  float state_display_time_;
  float current_state_time_;
  float alpha_;

  rviz::BoolPropertyWPtr visual_enabled_property_;
  rviz::BoolPropertyWPtr collision_enabled_property_;
  rviz::FloatPropertyWPtr state_display_time_property_;
  rviz::StringPropertyWPtr robot_description_property_;
  rviz::ROSTopicStringPropertyWPtr topic_property_;
  rviz::FloatPropertyWPtr alpha_property_;
  rviz::BoolPropertyWPtr loop_display_property_;

  ros::Publisher state_publisher_;

};

} // namespace motion_planning_rviz_plugin

 #endif

---

motion_planning_rviz_plugin
Author(s): Josh Faust
autogenerated on Fri Jan 11 09:50:55 2013