Program Listing for File snow_display.h

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#ifndef SNOWBOT_OPERATING_SYSTEM_WINTER_DISPLAY_H
#define SNOWBOT_OPERATING_SYSTEM_WINTER_DISPLAY_H

#include <rviz_common/display.hpp>
#include <rviz_rendering/objects/point_cloud.hpp>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <vector>

namespace snowbot_operating_system
{
inline double randScale()
{
  return static_cast<double>(rand()) / RAND_MAX;
}

class SnowDisplay : public rviz_common::Display
{
  Q_OBJECT
public:
  SnowDisplay();

  void update(float wall_dt, float ros_dt) override;

protected:
  void onInitialize() override;

private Q_SLOTS:
  void updateSize();
  void updatePosition();

private:
  void letItSnow();

  void initializeXY(geometry_msgs::msg::Point& pt) const;

  rviz_rendering::PointCloud* point_cloud_;
  std::vector<rviz_rendering::PointCloud::Point> flakes_;

  std::vector<geometry_msgs::msg::Point> points_;

  rviz_common::properties::FloatProperty* width_property_;
  rviz_common::properties::FloatProperty* height_property_;
  rviz_common::properties::FloatProperty* gravity_property_;
  rviz_common::properties::FloatProperty* wind_property_;
  rviz_common::properties::FloatProperty* jiggle_property_;
  rviz_common::properties::IntProperty* size_property_;

  double width_, height_;
};
}  // namespace snowbot_operating_system

#endif  // SNOWBOT_OPERATING_SYSTEM_WINTER_DISPLAY_H