Program Listing for File pose_array_display.hpp
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/*
* Copyright (c) 2012, 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
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* * 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.
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* 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__POSE_ARRAY__POSE_ARRAY_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_ARRAY__POSE_ARRAY_DISPLAY_HPP_
#include <memory>
#include <vector>
#include "geometry_msgs/msg/pose_array.hpp"
#include "rviz_rendering/objects/shape.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
// TODO(botteroa): Originally the display extended the MessageFilterDisplay. Revisit when available.
// #include "rviz_common/message_filter_display.hpp"
namespace Ogre
{
class ManualObject;
} // namespace Ogre
namespace rviz_common
{
namespace properties
{
class EnumProperty;
class ColorProperty;
class FloatProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_rendering
{
class Arrow;
class Axes;
} // namespace rviz_rendering
namespace rviz_default_plugins
{
namespace displays
{
class FlatArrowsArray;
struct OgrePose
{
Ogre::Vector3 position;
Ogre::Quaternion orientation;
};
class RVIZ_DEFAULT_PLUGINS_PUBLIC PoseArrayDisplay : public
rviz_common::MessageFilterDisplay<geometry_msgs::msg::PoseArray>
{
Q_OBJECT
public:
// TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call
// initialize instead
PoseArrayDisplay(
rviz_common::DisplayContext * display_context,
Ogre::SceneNode * scene_node);
PoseArrayDisplay();
~PoseArrayDisplay() override;
void processMessage(geometry_msgs::msg::PoseArray::ConstSharedPtr msg) override;
void setShape(QString shape); // for testing
protected:
void onInitialize() override;
void reset() override;
private Q_SLOTS:
void updateShapeChoice();
void updateArrowColor();
void updateArrow2dGeometry();
void updateArrow3dGeometry();
void updateAxesGeometry();
private:
void initializeProperties();
bool validateFloats(const geometry_msgs::msg::PoseArray & msg);
bool setTransform(std_msgs::msg::Header const & header);
void updateDisplay();
void updateArrows2d();
void updateArrows3d();
void updateAxes();
std::unique_ptr<rviz_rendering::Axes> makeAxes();
std::unique_ptr<rviz_rendering::Arrow> makeArrow3d();
std::vector<OgrePose> poses_;
std::unique_ptr<FlatArrowsArray> arrows2d_;
std::vector<std::unique_ptr<rviz_rendering::Arrow>> arrows3d_;
std::vector<std::unique_ptr<rviz_rendering::Axes>> axes_;
Ogre::SceneNode * arrow_node_;
Ogre::SceneNode * axes_node_;
rviz_common::properties::EnumProperty * shape_property_;
rviz_common::properties::ColorProperty * arrow_color_property_;
rviz_common::properties::FloatProperty * arrow_alpha_property_;
rviz_common::properties::FloatProperty * arrow2d_length_property_;
rviz_common::properties::FloatProperty * arrow3d_head_radius_property_;
rviz_common::properties::FloatProperty * arrow3d_head_length_property_;
rviz_common::properties::FloatProperty * arrow3d_shaft_radius_property_;
rviz_common::properties::FloatProperty * arrow3d_shaft_length_property_;
rviz_common::properties::FloatProperty * axes_length_property_;
rviz_common::properties::FloatProperty * axes_radius_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_ARRAY__POSE_ARRAY_DISPLAY_HPP_