Program Listing for File initial_pose_tool.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
* 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
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#ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__POSE_ESTIMATE__INITIAL_POSE_TOOL_HPP_
#define RVIZ_DEFAULT_PLUGINS__TOOLS__POSE_ESTIMATE__INITIAL_POSE_TOOL_HPP_
#include <QObject>
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/qos.hpp"
#include "rviz_default_plugins/tools/pose/pose_tool.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_common
{
class DisplayContext;
namespace properties
{
class FloatProperty;
class StringProperty;
class QosProfileProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace tools
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC InitialPoseTool : public PoseTool
{
Q_OBJECT
public:
InitialPoseTool();
~InitialPoseTool() override;
void onInitialize() override;
protected:
void onPoseSet(double x, double y, double theta) override;
private Q_SLOTS:
void updateTopic();
private:
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr publisher_;
rclcpp::Clock::SharedPtr clock_;
rviz_common::properties::StringProperty * topic_property_;
rviz_common::properties::QosProfileProperty * qos_profile_property_;
rviz_common::properties::FloatProperty * covariance_x_property_;
rviz_common::properties::FloatProperty * covariance_y_property_;
rviz_common::properties::FloatProperty * covariance_yaw_property_;
rclcpp::QoS qos_profile_;
};
} // namespace tools
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__TOOLS__POSE_ESTIMATE__INITIAL_POSE_TOOL_HPP_