wrench_display.h

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#ifndef WRENCHSTAMPED_DISPLAY_H
#define WRENCHSTAMPED_DISPLAY_H

#include <boost/circular_buffer.hpp>

#include <geometry_msgs/WrenchStamped.h>
#include <rviz/message_filter_display.h>

namespace Ogre
{
    class SceneNode;
}

namespace rviz
{
    class ColorProperty;
    class ROSTopicStringProperty;
    class FloatProperty;
    class IntProperty;
}

namespace rviz
{

    class WrenchStampedVisual;

    class WrenchStampedDisplay: public rviz::MessageFilterDisplay<geometry_msgs::WrenchStamped>
    {
    Q_OBJECT
    public:
        // Constructor.  pluginlib::ClassLoader creates instances by calling
        // the default constructor, so make sure you have one.
        WrenchStampedDisplay();
        virtual ~WrenchStampedDisplay();

    protected:
        // Overrides of public virtual functions from the Display class.
        virtual void onInitialize();
        virtual void reset();

    private Q_SLOTS:
        // Helper function to apply color and alpha to all visuals.
        void updateColorAndAlpha();
        void updateHistoryLength();

    private:
        // Function to handle an incoming ROS message.
        void processMessage( const geometry_msgs::WrenchStamped::ConstPtr& msg );

        // Storage for the list of visuals par each joint intem
        // Storage for the list of visuals.  It is a circular buffer where
        // data gets popped from the front (oldest) and pushed to the back (newest)
        boost::circular_buffer<boost::shared_ptr<WrenchStampedVisual> > visuals_;

        // Property objects for user-editable properties.
        rviz::ColorProperty *force_color_property_, *torque_color_property_;
        rviz::FloatProperty *alpha_property_, *scale_property_, *width_property_;
        rviz::IntProperty *history_length_property_;
    };
} // end namespace rviz_plugin_tutorials

#endif // WRENCHSTAMPED_DISPLAY_H