pose_array_display.h
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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 ogre_tools
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   // Overrides from Display
00078   virtual void targetFrameChanged() {}
00079   virtual void fixedFrameChanged();
00080   virtual void createProperties();
00081   virtual void update(float wall_dt, float ros_dt);
00082   virtual void reset();
00083 
00084 protected:
00085   void subscribe();
00086   void unsubscribe();
00087   void clear();
00088   void incomingMessage(const geometry_msgs::PoseArray::ConstPtr& msg);
00089   void processMessage(const geometry_msgs::PoseArray::ConstPtr& msg);
00090 
00091   // overrides from Display
00092   virtual void onEnable();
00093   virtual void onDisable();
00094 
00095   std::string topic_;
00096   Color color_;
00097 
00098   uint32_t messages_received_;
00099 
00100 #if 0
00101   typedef std::vector<ogre_tools::Arrow*> V_Arrow;
00102   V_Arrow arrows_;
00103   int arrow_count_;
00104 #endif
00105 
00106   Ogre::SceneNode* scene_node_;
00107   Ogre::ManualObject* manual_object_;
00108 
00109   message_filters::Subscriber<geometry_msgs::PoseArray> sub_;
00110   tf::MessageFilter<geometry_msgs::PoseArray>* tf_filter_;
00111 
00112   ColorPropertyWPtr color_property_;
00113   ROSTopicStringPropertyWPtr topic_property_;
00114 };
00115 
00116 } // namespace rviz
00117 
00118 #endif /* RVIZ_POSE_ARRAY_DISPLAY_H_ */
00119 


rviz_qt
Author(s): Dave Hershberger
autogenerated on Fri Dec 6 2013 20:56:53