Program Listing for File range_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, 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
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__RANGE__RANGE_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__RANGE__RANGE_DISPLAY_HPP_
#include <memory>
#include <vector>
#include "sensor_msgs/msg/range.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_rendering
{
class Shape;
} // namespace rviz_rendering
namespace rviz_common
{
class QueueSizeProperty;
namespace properties
{
class ColorProperty;
class FloatProperty;
class IntProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC RangeDisplay : public
rviz_common::MessageFilterDisplay<sensor_msgs::msg::Range>
{
Q_OBJECT
public:
// TODO(botteroa-si): Constructor for testing. Remove once ros nodes can be mocked and
// initialize() can be called
explicit RangeDisplay(rviz_common::DisplayContext * display_context);
RangeDisplay();
~RangeDisplay() override;
void reset() override;
void processMessage(sensor_msgs::msg::Range::ConstSharedPtr msg) override;
protected:
void onInitialize() override;
private Q_SLOTS:
void updateBufferLength();
void updateColorAndAlpha();
private:
float getDisplayedRange(sensor_msgs::msg::Range::ConstSharedPtr msg);
geometry_msgs::msg::Pose getPose(float displayed_range);
std::vector<std::shared_ptr<rviz_rendering::Shape>> cones_;
rviz_common::properties::ColorProperty * color_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::IntProperty * buffer_length_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__RANGE__RANGE_DISPLAY_HPP_