path_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_PATH_DISPLAY_H 00032 #define RVIZ_PATH_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/Path.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 PointCloud; 00048 } 00049 00050 namespace Ogre 00051 { 00052 class SceneNode; 00053 class ManualObject; 00054 } 00055 00056 namespace rviz 00057 { 00058 00063 class PathDisplay : public Display 00064 { 00065 public: 00066 PathDisplay( const std::string& name, VisualizationManager* manager ); 00067 virtual ~PathDisplay(); 00068 00069 void setTopic( const std::string& topic ); 00070 const std::string& getTopic() { return topic_; } 00071 00072 void setColor( const Color& color ); 00073 const Color& getColor() { return color_; } 00074 00075 void setAlpha( float alpha ); 00076 float getAlpha() { return alpha_; } 00077 00078 // Overrides from Display 00079 virtual void targetFrameChanged() {} 00080 virtual void fixedFrameChanged(); 00081 virtual void createProperties(); 00082 virtual void update(float wall_dt, float ros_dt); 00083 virtual void reset(); 00084 00085 static const char* getTypeStatic() { return "Path"; } 00086 virtual const char* getType() const { return getTypeStatic(); } 00087 static const char* getDescription(); 00088 00089 protected: 00090 void subscribe(); 00091 void unsubscribe(); 00092 void clear(); 00093 void incomingMessage(const nav_msgs::Path::ConstPtr& msg); 00094 void processMessage(const nav_msgs::Path::ConstPtr& msg); 00095 00096 // overrides from Display 00097 virtual void onEnable(); 00098 virtual void onDisable(); 00099 00100 std::string topic_; 00101 Color color_; 00102 float alpha_; 00103 00104 uint32_t messages_received_; 00105 00106 Ogre::SceneNode* scene_node_; 00107 Ogre::ManualObject* manual_object_; 00108 00109 message_filters::Subscriber<nav_msgs::Path> sub_; 00110 tf::MessageFilter<nav_msgs::Path> tf_filter_; 00111 nav_msgs::Path::ConstPtr current_message_; 00112 00113 ColorPropertyWPtr color_property_; 00114 ROSTopicStringPropertyWPtr topic_property_; 00115 FloatPropertyWPtr alpha_property_; 00116 }; 00117 00118 } // namespace rviz 00119 00120 #endif /* RVIZ_PATH_DISPLAY_H */ 00121