Program Listing for File attitude_indicator_plugin.h
↰ Return to documentation for file (include/mapviz_plugins/attitude_indicator_plugin.h
)
// *****************************************************************************
//
// Copyright (c) 2014-2020, 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"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************
#ifndef MAPVIZ_PLUGINS__ATTITUDE_INDICATOR_PLUGIN_H_
#define MAPVIZ_PLUGINS__ATTITUDE_INDICATOR_PLUGIN_H_
// Include mapviz_plugin.h first to ensure GL deps are included in the right order
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QColor>
#include <QGLWidget>
#include <QObject>
#include <QWidget>
// ROS libraries
#include <geometry_msgs/msg/pose.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <tf2/transform_datatypes.h>
#include <mapviz/map_canvas.h>
#include <mapviz_plugins/placeable_window_proxy.h>
// C++ standard libraries
#include <string>
#include <list>
#include <vector>
// QT autogenerated files
#include "ui_attitude_indicator_config.h"
namespace mapviz_plugins
{
class AttitudeIndicatorPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
AttitudeIndicatorPlugin();
~AttitudeIndicatorPlugin() 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;
void drawBackground();
void drawBall();
void drawPanel();
void timerEvent(QTimerEvent *) override;
protected Q_SLOTS:
void SelectTopic();
void TopicEdited();
private:
void AttitudeCallbackImu(sensor_msgs::msg::Imu::ConstSharedPtr imu);
void AttitudeCallbackOdom(nav_msgs::msg::Odometry::ConstSharedPtr odometry);
void AttitudeCallbackPose(geometry_msgs::msg::Pose::ConstSharedPtr pose);
void applyAttitudeOrientation(const geometry_msgs::msg::Quaternion &orientation);
void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
double pitch_;
double roll_;
double yaw_;
PlaceableWindowProxy placer_;
QWidget* config_widget_;
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_sub_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
rclcpp::Subscription<geometry_msgs::msg::Pose>::SharedPtr pose_sub_;
std::string topic_;
rmw_qos_profile_t qos_;
std::vector<std::string> topics_;
Ui::attitude_indicator_config ui_{};
}; // class AttitudeIndicatorPlugin
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__ATTITUDE_INDICATOR_PLUGIN_H_