planning_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 #ifndef MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H
00031 #define MOTION_PLANNING_RVIZ_PLUGIN_PLANNING_DISPLAY_H
00032 
00033 #include "rviz/display.h"
00034 
00035 #include <arm_navigation_msgs/DisplayTrajectory.h>
00036 #include <std_msgs/Bool.h>
00037 
00038 #include <ros/ros.h>
00039 
00040 #include <map>
00041 
00042 namespace Ogre
00043 {
00044 class Entity;
00045 class SceneNode;
00046 }
00047 
00048 namespace planning_models
00049 {
00050 class KinematicModel;
00051 }
00052 
00053 namespace planning_environment
00054 {
00055 class RobotModels;
00056 }
00057 
00058 namespace rviz
00059 {
00060 class Robot;
00061 class BoolProperty;
00062 class FloatProperty;
00063 class StringProperty;
00064 class RosTopicProperty;
00065 }
00066 
00067 namespace motion_planning_rviz_plugin
00068 {
00069 
00074 class PlanningDisplay : public rviz::Display
00075 {
00076 public:
00077   PlanningDisplay();
00078   virtual ~PlanningDisplay();
00079 
00080   virtual void onInitialize();
00081 
00086   void changedRobotDescription(  );
00087 
00092   void changedTopic(  );
00093 
00098   void changedStateDisplayTime(  );
00099 
00104   void changedVisualVisible(  );
00105 
00110   void changedCollisionVisible(  );
00111 
00112   void changedAlpha();
00113   void changedLoopDisplay();
00114         
00115   virtual void update(float wall_dt, float ros_dt);
00116 
00117   // Overrides from Display
00118   virtual void fixedFrameChanged();
00119 
00120 protected:
00124   void subscribe();
00128   void unsubscribe();
00129 
00133   void advertise();
00134 
00138   void unadvertise();
00139 
00143   void load();
00144 
00148   void incomingJointPath(const arm_navigation_msgs::DisplayTrajectory::ConstPtr& msg);
00149 
00153   void calculateRobotPosition();
00154 
00155   // overrides from Display
00156   virtual void onEnable();
00157   virtual void onDisable();
00158 
00159   std::string description_param_;             
00160 
00161   rviz::Robot* robot_;                              
00162 
00163   ros::Subscriber sub_;
00164   std::string kinematic_path_topic_;
00165   planning_environment::RobotModels* env_models_;
00166   const planning_models::KinematicModel* kinematic_model_;
00167   arm_navigation_msgs::DisplayTrajectory::ConstPtr incoming_kinematic_path_message_;
00168   arm_navigation_msgs::DisplayTrajectory::ConstPtr displaying_kinematic_path_message_;
00169   bool new_kinematic_path_;
00170   bool animating_path_;
00171   int current_state_;
00172   bool loop_display_;
00173   float state_display_time_;
00174   float current_state_time_;
00175   float alpha_;
00176 
00177   rviz::BoolProperty* visual_enabled_property_;
00178   rviz::BoolProperty* collision_enabled_property_;
00179   rviz::FloatProperty* state_display_time_property_;
00180   rviz::StringProperty* robot_description_property_;
00181   rviz::RosTopicProperty* topic_property_;
00182   rviz::FloatProperty* alpha_property_;
00183   rviz::BoolProperty* loop_display_property_;
00184 
00185   ros::Publisher state_publisher_;
00186 
00187 };
00188 
00189 } // namespace motion_planning_rviz_plugin
00190 
00191  #endif
00192 
00193 


motion_planning_rviz_plugin
Author(s): Josh Faust
autogenerated on Mon Dec 2 2013 12:39:30