Program Listing for File screw_display.hpp
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/*
* 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:
*
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* 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__SCREW__SCREW_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__SCREW__SCREW_DISPLAY_HPP_
#include <deque>
#include <memory>
#include <geometry_msgs/msg/vector3.hpp>
#include <rviz_common/message_filter_display.hpp>
#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_rendering/objects/screw_visual.hpp>
#include <std_msgs/msg/header.hpp>
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_default_plugins
{
namespace displays
{
template<class MessageType>
class RVIZ_DEFAULT_PLUGINS_PUBLIC ScrewDisplay
: public rviz_common::MessageFilterDisplay<MessageType>
{
public:
// Constructor. pluginlib::ClassLoader creates instances by calling
// the default constructor, so make sure you have one.
ScrewDisplay();
~ScrewDisplay() override = default;
protected:
// Overrides of public virtual functions from the Display class.
void onInitialize() override;
void reset() override;
// Helper function to properties for all visuals.
void updateProperties();
void updateHistoryLength();
void processMessagePrivate(
const std_msgs::msg::Header & header,
const geometry_msgs::msg::Vector3 & linear,
const geometry_msgs::msg::Vector3 & angular);
// Storage for the list of visuals par each joint intem
// 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::ScrewVisual>> visuals_;
// Property objects for user-editable properties.
rviz_common::properties::ColorProperty * linear_color_property_;
rviz_common::properties::ColorProperty * angular_color_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::FloatProperty * linear_scale_property_;
rviz_common::properties::FloatProperty * angular_scale_property_;
rviz_common::properties::FloatProperty * width_property_;
rviz_common::properties::IntProperty * history_length_property_;
rviz_common::properties::BoolProperty * hide_small_values_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__SCREW__SCREW_DISPLAY_HPP_