rviz: tf_display.h Source 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 #ifndef RVIZ_TF_DISPLAY_H
00031 #define RVIZ_TF_DISPLAY_H
00032 
00033 #include "rviz/display.h"
00034 #include "rviz/properties/forwards.h"
00035 
00036 #include <OGRE/OgreVector3.h>
00037 #include <OGRE/OgreQuaternion.h>
00038 
00039 #include <map>
00040 #include <set>
00041 
00042 namespace ogre_tools
00043 {
00044 class Arrow;
00045 class Axes;
00046 class MovableText;
00047 }
00048 
00049 namespace Ogre
00050 {
00051 class SceneNode;
00052 }
00053 
00054 namespace rviz
00055 {
00056 
00057 class BoolProperty;
00058 class Vector3Property;
00059 class QuaternionProperty;
00060 class FloatProperty;
00061 class CategoryProperty;
00062 class StringProperty;
00063 
00064 struct FrameInfo;
00065 typedef std::set<FrameInfo*> S_FrameInfo;
00066 
00071 class TFDisplay : public Display
00072 {
00073 public:
00074   TFDisplay( const std::string& name, VisualizationManager* manager );
00075   virtual ~TFDisplay();
00076 
00077   bool getShowNames() { return show_names_; }
00078   void setShowNames( bool show );
00079 
00080   bool getShowAxes() { return show_axes_; }
00081   void setShowAxes( bool show );
00082 
00083   bool getShowArrows() { return show_arrows_; }
00084   void setShowArrows( bool show );
00085 
00086   float getUpdateRate() { return update_rate_; }
00087   void setUpdateRate( float rate );
00088 
00089   bool getAllEnabled() { return all_enabled_; }
00090   void setAllEnabled(bool enabled);
00091 
00092   float getFrameTimeout() { return frame_timeout_; }
00093   void setFrameTimeout(float timeout);
00094 
00095   void setFrameEnabled(FrameInfo* frame, bool enabled);
00096 
00097   // Overrides from Display
00098   virtual void update(float wall_dt, float ros_dt);
00099   virtual void targetFrameChanged();
00100   virtual void fixedFrameChanged() {}
00101   virtual void createProperties();
00102   virtual void reset();
00103 
00104 protected:
00105   void updateFrames();
00106   FrameInfo* createFrame(const std::string& frame);
00107   void updateFrame(FrameInfo* frame);
00108   void deleteFrame(FrameInfo* frame);
00109 
00110   FrameInfo* getFrameInfo(const std::string& frame);
00111 
00112   void clear();
00113 
00114   // overrides from Display
00115   virtual void onEnable();
00116   virtual void onDisable();
00117 
00118   Ogre::SceneNode* root_node_;
00119   Ogre::SceneNode* names_node_;
00120   Ogre::SceneNode* arrows_node_;
00121   Ogre::SceneNode* axes_node_;
00122 
00123   typedef std::map<std::string, FrameInfo*> M_FrameInfo;
00124   M_FrameInfo frames_;
00125 
00126   float update_timer_;
00127   float update_rate_;
00128 
00129   bool show_names_;
00130   bool show_arrows_;
00131   bool show_axes_;
00132   float frame_timeout_;
00133   bool all_enabled_;
00134 
00135   BoolPropertyWPtr show_names_property_;
00136   BoolPropertyWPtr show_arrows_property_;
00137   BoolPropertyWPtr show_axes_property_;
00138   FloatPropertyWPtr update_rate_property_;
00139   FloatPropertyWPtr frame_timeout_property_;
00140   BoolPropertyWPtr all_enabled_property_;
00141 
00142   CategoryPropertyWPtr frames_category_;
00143   CategoryPropertyWPtr tree_category_;
00144 };
00145 
00146 } // namespace rviz
00147 
00148  #endif
00149