Program Listing for File grid_cells_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* 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
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_
#include <memory>
#include "nav_msgs/msg/grid_cells.hpp"
#include "nav_msgs/msg/map_meta_data.hpp"
#include "rviz_common/display.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_common/display_context.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_rendering
{
class PointCloud;
}
namespace rviz_common
{
namespace properties
{
class ColorProperty;
class FloatProperty;
} // properties
} // rviz_common
namespace rviz_default_plugins
{
namespace displays
{
// TODO(Martin-Idel-SI): This display previously used tf message filter. Use again once available.
class RVIZ_DEFAULT_PLUGINS_PUBLIC GridCellsDisplay : public
rviz_common::MessageFilterDisplay<nav_msgs::msg::GridCells>
{
Q_OBJECT
public:
// TODO(Martin-Idel-SI): Constructor for testing. Remove once ros nodes can be mocked and
// initialize() can be called
explicit GridCellsDisplay(rviz_common::DisplayContext * display_context);
GridCellsDisplay();
~GridCellsDisplay() override;
void onInitialize() override;
void processMessage(nav_msgs::msg::GridCells::ConstSharedPtr msg) override;
void setupCloud();
private Q_SLOTS:
void updateAlpha();
void updateColor();
private:
bool messageIsValid(nav_msgs::msg::GridCells::ConstSharedPtr msg);
void convertMessageToCloud(nav_msgs::msg::GridCells::ConstSharedPtr msg);
bool setTransform(std_msgs::msg::Header const & header);
std::shared_ptr<rviz_rendering::PointCloud> cloud_;
rviz_common::properties::ColorProperty * color_property_;
rviz_common::properties::FloatProperty * alpha_property_;
uint64_t last_frame_count_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_