Program Listing for File point_drawing_plugin.h
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#ifndef MAPVIZ_PLUGINS__POINT_DRAWING_PLUGIN_H_
#define MAPVIZ_PLUGINS__POINT_DRAWING_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
#include <mapviz/map_canvas.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
// C++ standard libraries
#include <deque>
#include <list>
#include <string>
#include <vector>
namespace mapviz_plugins
{
class PointDrawingPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
struct StampedPoint
{
StampedPoint(): transformed(false) {}
tf2::Vector3 point;
tf2::Quaternion orientation;
tf2::Vector3 transformed_point;
tf2::Vector3 transformed_arrow_point;
tf2::Vector3 transformed_arrow_left;
tf2::Vector3 transformed_arrow_right;
std::string source_frame;
bool transformed;
rclcpp::Time stamp;
std::vector<tf2::Vector3> cov_points;
std::vector<tf2::Vector3> transformed_cov_points;
};
enum DrawStyle
{
LINES = 0,
POINTS,
ARROWS
};
PointDrawingPlugin();
~PointDrawingPlugin() override = default;
void ClearHistory() override;
void Transform() override;
virtual bool DrawPoints(double scale);
virtual bool DrawArrows();
virtual bool DrawArrow(const StampedPoint& point);
virtual bool DrawLaps();
virtual bool DrawLines();
virtual void CollectLaps();
virtual bool DrawLapsArrows();
virtual bool TransformPoint(StampedPoint& point);
virtual void UpdateColor(QColor base_color, int i);
virtual void DrawCovariance();
protected Q_SLOTS:
virtual void BufferSizeChanged(int value);
void DrawIcon() override;
virtual void SetColor(const QColor& color);
virtual void SetDrawStyle(QString style);
virtual void SetDrawStyle(DrawStyle style);
virtual void SetStaticArrowSizes(bool isChecked);
virtual void SetArrowSize(int arrowSize);
virtual void PositionToleranceChanged(double value);
virtual void LapToggled(bool checked);
virtual void CovariancedToggled(bool checked);
virtual void ShowAllCovariancesToggled(bool checked);
void ResetTransformedPoints();
void ClearPoints();
protected:
void pushPoint(StampedPoint point);
double bufferSize() const;
double positionTolerance() const;
const std::deque<StampedPoint>& points() const;
private:
int arrow_size_;
DrawStyle draw_style_;
StampedPoint cur_point_;
std::deque<StampedPoint> points_;
double position_tolerance_;
int buffer_size_;
bool covariance_checked_;
bool show_all_covariances_checked_;
bool new_lap_;
QColor color_;
bool lap_checked_;
int buffer_holder_;
double scale_;
bool static_arrow_sizes_;
private:
std::vector<std::deque<StampedPoint> > laps_;
bool got_begin_;
tf2::Vector3 begin_;
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__POINT_DRAWING_PLUGIN_H_