grid_cells_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_GRID_CELLS_DISPLAY_H 00032 #define RVIZ_GRID_CELLS_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/GridCells.h> 00039 #include <nav_msgs/MapMetaData.h> 00040 00041 #include <message_filters/subscriber.h> 00042 #include <tf/message_filter.h> 00043 00044 #include <boost/shared_ptr.hpp> 00045 00046 namespace ogre_tools 00047 { 00048 class PointCloud; 00049 } 00050 00051 namespace Ogre 00052 { 00053 class SceneNode; 00054 class ManualObject; 00055 } 00056 00057 namespace rviz 00058 { 00059 00064 class GridCellsDisplay : public Display 00065 { 00066 public: 00067 GridCellsDisplay( const std::string& name, VisualizationManager* manager ); 00068 virtual ~GridCellsDisplay(); 00069 00070 void setTopic( const std::string& topic ); 00071 const std::string& getTopic() { return topic_; } 00072 00073 void setColor( const Color& color ); 00074 const Color& getColor() { return color_; } 00075 00076 void setAlpha( float alpha ); 00077 float getAlpha() { return alpha_; } 00078 00079 // Overrides from Display 00080 virtual void targetFrameChanged() {} 00081 virtual void fixedFrameChanged(); 00082 virtual void createProperties(); 00083 virtual void update(float wall_dt, float ros_dt); 00084 virtual void reset(); 00085 00086 static const char* getTypeStatic() { return "GridCells"; } 00087 virtual const char* getType() const { return getTypeStatic(); } 00088 static const char* getDescription(); 00089 00090 protected: 00091 void subscribe(); 00092 void unsubscribe(); 00093 void clear(); 00094 void incomingMessage(const nav_msgs::GridCells::ConstPtr& msg); 00095 void processMessage(const nav_msgs::GridCells::ConstPtr& msg); 00096 00097 // overrides from Display 00098 virtual void onEnable(); 00099 virtual void onDisable(); 00100 00101 std::string topic_; 00102 Color color_; 00103 float alpha_; 00104 00105 Ogre::SceneNode* scene_node_; 00106 ogre_tools::PointCloud* cloud_; 00107 00108 message_filters::Subscriber<nav_msgs::GridCells> sub_; 00109 tf::MessageFilter<nav_msgs::GridCells> tf_filter_; 00110 nav_msgs::GridCells::ConstPtr current_message_; 00111 00112 ColorPropertyWPtr color_property_; 00113 ROSTopicStringPropertyWPtr topic_property_; 00114 FloatPropertyWPtr alpha_property_; 00115 00116 uint32_t messages_received_; 00117 }; 00118 00119 } // namespace rviz 00120 00121 #endif /* RVIZ_GRID_CELLS_DISPLAY_H */ 00122