Program Listing for File interactive_marker_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2019, 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 copyright holder 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
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*/
#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_DISPLAY_HPP_
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "visualization_msgs/msg/interactive_marker.hpp"
#include "visualization_msgs/msg/interactive_marker_update.hpp"
#include "visualization_msgs/msg/interactive_marker_init.hpp"
#ifndef Q_MOC_RUN
#include "interactive_markers/interactive_marker_client.hpp"
#endif
#include "rviz_common/display.hpp"
#include "rviz_default_plugins/displays/interactive_markers/interactive_marker.hpp"
namespace rviz_common
{
class BoolProperty;
class Object;
}
namespace rviz_default_plugins
{
class InteractiveMarkerNamespaceProperty;
namespace displays
{
class MarkerBase;
class InteractiveMarkerDisplay : public rviz_common::Display
{
Q_OBJECT
public:
InteractiveMarkerDisplay();
// Overrides from Display
void update(float wall_dt, float ros_dt) override;
void reset() override;
protected:
// Overrides from Display
void fixedFrameChanged() override;
void onInitialize() override;
void onEnable() override;
void onDisable() override;
void setTopic(const QString & topic, const QString & datatype) override;
protected Q_SLOTS:
void namespaceChanged();
void updateShowDescriptions();
void updateShowAxes();
void updateShowVisualAids();
void updateEnableTransparency();
void publishFeedback(visualization_msgs::msg::InteractiveMarkerFeedback & feedback);
void onStatusUpdate(
rviz_common::properties::StatusProperty::Level level,
const std::string & name,
const std::string & text);
private:
void subscribe();
void unsubscribe();
void initializeCallback(visualization_msgs::srv::GetInteractiveMarkers::Response::SharedPtr);
void updateCallback(visualization_msgs::msg::InteractiveMarkerUpdate::ConstSharedPtr msg);
void resetCallback();
void statusCallback(
interactive_markers::InteractiveMarkerClient::Status,
const std::string & message);
void updateMarkers(const std::vector<visualization_msgs::msg::InteractiveMarker> & markers);
void updatePoses(
const std::vector<visualization_msgs::msg::InteractiveMarkerPose> & marker_poses);
void eraseAllMarkers();
void eraseMarkers(const std::vector<std::string> & names);
std::map<std::string, InteractiveMarker::SharedPtr> interactive_markers_map_;
// Properties
InteractiveMarkerNamespaceProperty * interactive_marker_namespace_property_;
rviz_common::properties::BoolProperty * show_descriptions_property_;
rviz_common::properties::BoolProperty * show_axes_property_;
rviz_common::properties::BoolProperty * show_visual_aids_property_;
rviz_common::properties::BoolProperty * enable_transparency_property_;
std::unique_ptr<interactive_markers::InteractiveMarkerClient> interactive_marker_client_;
}; // class InteractiveMarkerDisplay
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_DISPLAY_HPP_