planning_display.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H
#define MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H

#include "rviz/display.h"

#include <arm_navigation_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;
class BoolProperty;
class FloatProperty;
class StringProperty;
class RosTopicProperty;
}

namespace motion_planning_rviz_plugin
{

class PlanningDisplay : public rviz::Display
{
public:
  PlanningDisplay();
  virtual ~PlanningDisplay();

  virtual void onInitialize();

  void changedRobotDescription(  );

  void changedTopic(  );

  void changedStateDisplayTime(  );

  void changedVisualVisible(  );

  void changedCollisionVisible(  );

  void changedAlpha();
  void changedLoopDisplay();
        
  virtual void update(float wall_dt, float ros_dt);

  // Overrides from Display
  virtual void fixedFrameChanged();

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

  void advertise();

  void unadvertise();

  void load();

  void incomingJointPath(const arm_navigation_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_;
  const planning_models::KinematicModel* kinematic_model_;
  arm_navigation_msgs::DisplayTrajectory::ConstPtr incoming_kinematic_path_message_;
  arm_navigation_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::BoolProperty* visual_enabled_property_;
  rviz::BoolProperty* collision_enabled_property_;
  rviz::FloatProperty* state_display_time_property_;
  rviz::StringProperty* robot_description_property_;
  rviz::RosTopicProperty* topic_property_;
  rviz::FloatProperty* alpha_property_;
  rviz::BoolProperty* loop_display_property_;

  ros::Publisher state_publisher_;

};

} // namespace motion_planning_rviz_plugin

 #endif