Program Listing for File wrench_display.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/wrench/wrench_display.hpp
)
/*
* Copyright (c) 2019, Martin Idel and others
* 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
* 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
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__WRENCH__WRENCH_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__WRENCH__WRENCH_DISPLAY_HPP_
#include <memory>
#include <deque>
#include "geometry_msgs/msg/wrench_stamped.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace Ogre
{
class SceneNode;
}
namespace rviz_rendering
{
class WrenchVisual;
}
namespace rviz_common
{
namespace properties
{
class ColorProperty;
class FloatProperty;
class IntProperty;
}
}
namespace rviz_default_plugins
{
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC WrenchDisplay : public
rviz_common::MessageFilterDisplay<geometry_msgs::msg::WrenchStamped>
{
Q_OBJECT
public:
WrenchDisplay();
~WrenchDisplay() override;
void onInitialize() override;
void reset() override;
void processMessage(geometry_msgs::msg::WrenchStamped::ConstSharedPtr msg) override;
private
Q_SLOTS:
void updateWrenchVisuals();
void updateHistoryLength();
private:
std::shared_ptr<rviz_rendering::WrenchVisual> createWrenchVisual(
const geometry_msgs::msg::WrenchStamped::ConstSharedPtr & msg,
const Ogre::Quaternion & orientation,
const Ogre::Vector3 & position);
std::deque<std::shared_ptr<rviz_rendering::WrenchVisual>> visuals_;
rviz_common::properties::BoolProperty * accept_nan_values_;
rviz_common::properties::ColorProperty * force_color_property_;
rviz_common::properties::ColorProperty * torque_color_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::FloatProperty * force_scale_property_;
rviz_common::properties::FloatProperty * torque_scale_property_;
rviz_common::properties::FloatProperty * width_property_;
rviz_common::properties::IntProperty * history_length_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__WRENCH__WRENCH_DISPLAY_HPP_