00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_ 00038 #define JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_ 00039 00040 00041 #include <rviz/display.h> 00042 #include <rviz/message_filter_display.h> 00043 #include <rviz/properties/float_property.h> 00044 #include <rviz/properties/color_property.h> 00045 #include <rviz/properties/string_property.h> 00046 #include <rviz/properties/editable_enum_property.h> 00047 #include <rviz/properties/tf_frame_property.h> 00048 #include <rviz/properties/ros_topic_property.h> 00049 #include <rviz/properties/enum_property.h> 00050 #include <rviz/display_context.h> 00051 #include <rviz/frame_manager.h> 00052 #include <people_msgs/PositionMeasurementArray.h> 00053 #include "overlay_utils.h" 00054 #include "facing_visualizer.h" 00055 00056 namespace jsk_rviz_plugins 00057 { 00058 00059 class PeoplePositionMeasurementArrayDisplay: 00060 public rviz::MessageFilterDisplay<people_msgs::PositionMeasurementArray> 00061 { 00062 Q_OBJECT 00063 public: 00064 PeoplePositionMeasurementArrayDisplay(); 00065 virtual ~PeoplePositionMeasurementArrayDisplay(); 00066 protected: 00067 virtual void onInitialize(); 00068 virtual void reset(); 00069 void processMessage(const people_msgs::PositionMeasurementArray::ConstPtr& msg); 00070 void update(float wall_dt, float ros_dt); 00071 void clearObjects(); 00072 rviz::FloatProperty* size_property_; 00073 rviz::FloatProperty* timeout_property_; 00074 rviz::BoolProperty* anonymous_property_; 00075 rviz::StringProperty* text_property_; 00076 boost::mutex mutex_; 00077 double size_; 00078 double timeout_; 00079 bool anonymous_; 00080 std::string text_; 00081 std::vector<people_msgs::PositionMeasurement> faces_; 00082 std::vector<GISCircleVisualizer::Ptr> visualizers_; 00083 ros::Time latest_time_; 00084 private Q_SLOTS: 00085 void updateSize(); 00086 void updateTimeout(); 00087 void updateAnonymous(); 00088 void updateText(); 00089 private: 00090 00091 00092 }; 00093 } 00094 00095 #endif