people_position_measurement_array_display.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_


#include <rviz/display.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/enum_property.h>
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <people_msgs/PositionMeasurementArray.h>
#include "overlay_utils.h"
#include "facing_visualizer.h"

namespace jsk_rviz_plugin
{
  
  class PeoplePositionMeasurementArrayDisplay:
    public rviz::MessageFilterDisplay<people_msgs::PositionMeasurementArray>
  {
    Q_OBJECT
  public:
    PeoplePositionMeasurementArrayDisplay();
    virtual ~PeoplePositionMeasurementArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    void processMessage(const people_msgs::PositionMeasurementArray::ConstPtr& msg);
    void update(float wall_dt, float ros_dt);
    void clearObjects();
    rviz::FloatProperty* size_property_;
    rviz::FloatProperty* timeout_property_;
    rviz::BoolProperty* anonymous_property_;
    rviz::StringProperty* text_property_;
    boost::mutex mutex_;
    double size_;
    double timeout_;
    bool anonymous_;
    std::string text_;
    std::vector<people_msgs::PositionMeasurement> faces_;
    std::vector<GISCircleVisualizer::Ptr> visualizers_;
    ros::Time latest_time_;
  private Q_SLOTS:
    void updateSize();
    void updateTimeout();
    void updateAnonymous();
    void updateText();
  private:
  
    
  };
}

#endif