Program Listing for File effort_display.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp
)
/*
* Copyright (c) 2023, Open Source Robotics Foundation, Inc.
* 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 the Willow Garage, Inc. 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 THE COPYRIGHT OWNER OR CONTRIBUTORS 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 RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_
#include <urdf/model.h>
#include <deque>
#include <map>
#include <memory>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <rviz_common/message_filter_display.hpp>
#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/string_property.hpp>
#include <rviz_common/properties/property.hpp>
#include <rviz_rendering/objects/effort_visual.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <std_msgs/msg/string.hpp>
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_default_plugins
{
namespace displays
{
class JointInfo : public QObject
{
Q_OBJECT
public:
JointInfo(const std::string & name, rviz_common::properties::Property * parent_category);
~JointInfo() override;
void setEffort(double e);
inline double getEffort()
{
return effort_;
}
void setMaxEffort(double m);
inline double getMaxEffort()
{
return max_effort_;
}
bool getEnabled() const;
rclcpp::Time last_update_;
public Q_SLOTS:
void updateVisibility();
private:
std::string name_;
double effort_, max_effort_;
rviz_common::properties::Property * category_;
rviz_common::properties::FloatProperty * effort_property_;
rviz_common::properties::FloatProperty * max_effort_property_;
};
class RVIZ_DEFAULT_PLUGINS_PUBLIC EffortDisplay
: public rviz_common::MessageFilterDisplay<sensor_msgs::msg::JointState>
{
Q_OBJECT
public:
EffortDisplay();
~EffortDisplay() override;
// Overrides of public virtual functions from the Display class.
void onInitialize() override;
void reset() override;
void load(const rviz_common::Config & config) override;
void update(float wall_dt, float ros_dt) override;
private Q_SLOTS:
// Helper function to apply color and alpha to all visuals.
void updateColorAndAlpha();
void updateHistoryLength();
void updateRobotDescription();
void updateTfPrefix();
private:
std::shared_ptr<JointInfo> getJointInfo(const std::string & joint);
void subscribeToRobotDescription();
protected:
// overrides from Display
void onEnable() override;
void onDisable() override;
void load();
void clear();
// The object for urdf model
std::shared_ptr<urdf::Model> robot_model_;
std::string robot_description_;
std::string robot_description_topic_;
private:
void processMessage(sensor_msgs::msg::JointState::ConstSharedPtr msg) override;
void topic_callback(const std_msgs::msg::String & msg);
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
// 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)
std::deque<std::shared_ptr<rviz_rendering::EffortVisual>> visuals_;
typedef std::map<std::string, std::shared_ptr<JointInfo>> M_JointInfo;
M_JointInfo joints_;
// Property objects for user-editable properties.
rviz_common::properties::FloatProperty * alpha_property_, * width_property_, * scale_property_;
rviz_common::properties::IntProperty * history_length_property_;
rviz_common::properties::StringProperty * robot_description_property_;
rviz_common::properties::StringProperty * tf_prefix_property_;
rviz_common::properties::Property * joints_category_;
rviz_common::properties::BoolProperty * all_enabled_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_