Program Listing for File measuring_plugin.h
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#ifndef MAPVIZ_PLUGINS__MEASURING_PLUGIN_H_
#define MAPVIZ_PLUGINS__MEASURING_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
// ROS Libraries
#include <rclcpp/rclcpp.hpp>
// Mapviz libraries
#include <mapviz/map_canvas.h>
// C++ libraries
#include <string>
#include <vector>
// QT autogenerated files
#include "ui_measuring_config.h"
namespace mapviz_plugins
{
class MeasuringPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
MeasuringPlugin();
~MeasuringPlugin() override;
bool Initialize(QGLWidget* canvas) override;
void Shutdown() override { }
void Paint(QPainter* painter, double x, double y, double scale) 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;
void DistanceCalculation();
QWidget* GetConfigWidget(QWidget* parent) override;
void PrintError(const std::string& message) override;
void PrintInfo(const std::string& message) override;
void PrintWarning(const std::string& message) override;
bool SupportsPainting() override
{
return true;
}
protected:
bool eventFilter(QObject* object, QEvent* event) override;
bool handleMousePress(QMouseEvent*);
bool handleMouseRelease(QMouseEvent*);
bool handleMouseMove(QMouseEvent*);
protected Q_SLOTS:
void Clear();
void BkgndColorToggled(bool) { }
void MeasurementsToggled(bool) { }
void FontSizeChanged(int) { }
void AlphaChanged(double) { }
private:
Ui::measuring_config ui_;
QWidget* config_widget_;
mapviz::MapCanvas* map_canvas_;
tf2::Vector3 last_position_;
std::vector<tf2::Vector3> vertices_;
std::vector<tf2::Vector3> transformed_vertices_;
int selected_point_;
bool is_mouse_down_;
QPointF mouse_down_pos_;
qint64 mouse_down_time_;
qint64 max_ms_;
qreal max_distance_;
std::vector<double> measurements_;
};
struct MeasurementBox
{
QRectF rect;
QString string;
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__MEASURING_PLUGIN_H_