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_POSE_ARRAY_DISPLAY_H_ 00032 #define RVIZ_POSE_ARRAY_DISPLAY_H_ 00033 00034 #include "rviz/display.h" 00035 #include "rviz/helpers/color.h" 00036 #include "rviz/properties/forwards.h" 00037 00038 #include <geometry_msgs/PoseArray.h> 00039 00040 #include <ros/ros.h> 00041 00042 #include <message_filters/subscriber.h> 00043 #include <tf/message_filter.h> 00044 00045 namespace rviz 00046 { 00047 class Arrow; 00048 } 00049 00050 namespace Ogre 00051 { 00052 class SceneNode; 00053 class ManualObject; 00054 } 00055 00056 namespace rviz 00057 { 00058 00063 class PoseArrayDisplay : public Display 00064 { 00065 public: 00066 PoseArrayDisplay(); 00067 virtual ~PoseArrayDisplay(); 00068 00069 virtual void onInitialize(); 00070 00071 void setTopic( const std::string& topic ); 00072 const std::string& getTopic() { return topic_; } 00073 00074 void setColor( const Color& color ); 00075 const Color& getColor() { return color_; } 00076 00077 void setLength( float length ); 00078 float getLength() const { return length_; } 00079 00080 // Overrides from Display 00081 virtual void fixedFrameChanged(); 00082 virtual void createProperties(); 00083 virtual void update(float wall_dt, float ros_dt); 00084 virtual void reset(); 00085 00086 protected: 00087 void subscribe(); 00088 void unsubscribe(); 00089 void clear(); 00090 void incomingMessage(const geometry_msgs::PoseArray::ConstPtr& msg); 00091 void processMessage(const geometry_msgs::PoseArray::ConstPtr& msg); 00092 00093 // overrides from Display 00094 virtual void onEnable(); 00095 virtual void onDisable(); 00096 00097 std::string topic_; 00098 Color color_; 00099 float length_; 00100 00101 uint32_t messages_received_; 00102 00103 #if 0 00104 typedef std::vector<Arrow*> V_Arrow; 00105 V_Arrow arrows_; 00106 int arrow_count_; 00107 #endif 00108 00109 Ogre::SceneNode* scene_node_; 00110 Ogre::ManualObject* manual_object_; 00111 00112 message_filters::Subscriber<geometry_msgs::PoseArray> sub_; 00113 tf::MessageFilter<geometry_msgs::PoseArray>* tf_filter_; 00114 00115 ColorPropertyWPtr color_property_; 00116 ROSTopicStringPropertyWPtr topic_property_; 00117 FloatPropertyWPtr length_property_; 00118 }; 00119 00120 } // namespace rviz 00121 00122 #endif /* RVIZ_POSE_ARRAY_DISPLAY_H_ */ 00123