twist_stamped_display.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, 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
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 #ifndef JSK_RVIZ_PLUGINS_TWIST_STAMPED_H_
00038 #define JSK_RVIZ_PLUGINS_TWIST_STAMPED_H_
00039 
00040 #include <rviz/properties/color_property.h>
00041 #include <rviz/properties/bool_property.h>
00042 #include <rviz/properties/float_property.h>
00043 #include <rviz/properties/int_property.h>
00044 #include <rviz/message_filter_display.h>
00045 #include <rviz/ogre_helpers/shape.h>
00046 #include <rviz/ogre_helpers/mesh_shape.h>
00047 #include <rviz/ogre_helpers/arrow.h>
00048 #include <OGRE/OgreSceneNode.h>
00049 
00050 #include <geometry_msgs/TwistStamped.h>
00051 #include <rviz/ogre_helpers/arrow.h>
00052 #include <rviz/ogre_helpers/billboard_line.h>
00053 
00054 
00055 namespace jsk_rviz_plugins
00056 {
00057   class TwistStampedDisplay: public rviz::MessageFilterDisplay<geometry_msgs::TwistStamped>
00058   {
00059     Q_OBJECT
00060   public:
00061     typedef boost::shared_ptr<rviz::Arrow> ArrowPtr;
00062     typedef boost::shared_ptr<rviz::BillboardLine> BillboardLinePtr;
00063     TwistStampedDisplay();
00064     virtual ~TwistStampedDisplay();
00065   protected:
00066 
00067     virtual void onInitialize();
00068     virtual void reset();
00069     virtual void processMessage(
00070       const geometry_msgs::TwistStamped::ConstPtr& msg);
00071     virtual void updateRotationVelocity(
00072       BillboardLinePtr circle,
00073       ArrowPtr arrow,
00074       const Ogre::Vector3& ux,
00075       const Ogre::Vector3& uy,
00076       const Ogre::Vector3& uz,
00077       const double r,
00078       bool positive);
00080     // properties
00082     rviz::FloatProperty* linear_scale_property_;
00083     rviz::FloatProperty* angular_scale_property_;
00084     rviz::ColorProperty* linear_color_property_;
00085     rviz::ColorProperty* angular_color_property_;
00086     
00087     double linear_scale_;
00088     double angular_scale_;
00089     QColor linear_color_;
00090     QColor angular_color_;
00091                          
00092     ArrowPtr linear_arrow_;
00093     BillboardLinePtr x_rotate_circle_;
00094     BillboardLinePtr y_rotate_circle_;
00095     BillboardLinePtr z_rotate_circle_;
00096     ArrowPtr x_rotate_arrow_;
00097     ArrowPtr y_rotate_arrow_;
00098     ArrowPtr z_rotate_arrow_;
00099   private Q_SLOTS:
00100     void updateLinearScale();
00101     void updateAngularScale();
00102     void updateLinearColor();
00103     void updateAngularColor();
00104   };
00105 }
00106 
00107 #endif


jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Sun Sep 13 2015 22:29:03