Program Listing for File grid_plugin.h
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// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of Southwest Research Institute® (SwRI®) nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef MAPVIZ_PLUGINS__GRID_PLUGIN_H_
#define MAPVIZ_PLUGINS__GRID_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
#include <QTimer>
// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <mapviz/map_canvas.h>
// C++ standard libraries
#include <string>
#include <list>
// QT autogenerated files
#include "ui_grid_config.h"
namespace mapviz_plugins
{
class GridPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
GridPlugin();
~GridPlugin() override = default;
bool Initialize(QGLWidget* canvas) override;
void Shutdown() override {}
void Draw(double x, double y, double scale) override;
void Transform() override;
void LoadConfig(const YAML::Node& node, const std::string& path) override;
void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
QWidget* GetConfigWidget(QWidget* parent) override;
protected:
void PrintError(const std::string& message) override;
void PrintInfo(const std::string& message) override;
void PrintWarning(const std::string& message) override;
protected Q_SLOTS:
void SelectFrame();
void FrameEdited();
void SetAlpha(double alpha);
void SetX(double x);
void SetY(double y);
void SetSize(double size);
void SetRows(int rows);
void SetColumns(int columns);
void DrawIcon() override;
private:
Ui::grid_config ui_;
QWidget* config_widget_;
double alpha_;
tf2::Vector3 top_left_;
double size_;
int rows_;
int columns_;
bool transformed_;
std::list<tf2::Vector3> top_points_;
std::list<tf2::Vector3> bottom_points_;
std::list<tf2::Vector3> left_points_;
std::list<tf2::Vector3> right_points_;
std::list<tf2::Vector3> transformed_top_points_;
std::list<tf2::Vector3> transformed_bottom_points_;
std::list<tf2::Vector3> transformed_left_points_;
std::list<tf2::Vector3> transformed_right_points_;
swri_transform_util::Transform transform_;
void RecalculateGrid();
void Transform(std::list<tf2::Vector3>& src, std::list<tf2::Vector3>& dst);
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__GRID_PLUGIN_H_