00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_MAP_DISPLAY_H 00031 #define RVIZ_MAP_DISPLAY_H 00032 00033 #include <boost/thread/thread.hpp> 00034 00035 #include <OgreTexture.h> 00036 #include <OgreMaterial.h> 00037 #include <OgreVector3.h> 00038 #include <OgreSharedPtr.h> 00039 00040 #include <nav_msgs/MapMetaData.h> 00041 #include <ros/time.h> 00042 00043 #include <nav_msgs/OccupancyGrid.h> 00044 #include <map_msgs/OccupancyGridUpdate.h> 00045 00046 #include "rviz/display.h" 00047 00048 namespace Ogre 00049 { 00050 class ManualObject; 00051 } 00052 00053 namespace rviz 00054 { 00055 00056 class EnumProperty; 00057 class FloatProperty; 00058 class IntProperty; 00059 class Property; 00060 class QuaternionProperty; 00061 class RosTopicProperty; 00062 class VectorProperty; 00063 00068 class MapDisplay: public Display 00069 { 00070 Q_OBJECT 00071 public: 00072 MapDisplay(); 00073 virtual ~MapDisplay(); 00074 00075 // Overrides from Display 00076 virtual void onInitialize(); 00077 virtual void fixedFrameChanged(); 00078 virtual void reset(); 00079 00080 float getResolution() { return resolution_; } 00081 int getWidth() { return width_; } 00082 int getHeight() { return height_; } 00083 00084 virtual void setTopic( const QString &topic, const QString &datatype ); 00085 00086 Q_SIGNALS: 00088 void mapUpdated(); 00089 00090 protected Q_SLOTS: 00091 void updateAlpha(); 00092 void updateTopic(); 00093 void updateDrawUnder(); 00094 void updatePalette(); 00096 void showMap(); 00097 00098 protected: 00099 // overrides from Display 00100 virtual void onEnable(); 00101 virtual void onDisable(); 00102 00103 virtual void subscribe(); 00104 virtual void unsubscribe(); 00105 00107 void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg); 00108 00110 void incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update); 00111 00112 void clear(); 00113 00114 void transformMap(); 00115 00116 Ogre::ManualObject* manual_object_; 00117 Ogre::TexturePtr texture_; 00118 std::vector<Ogre::TexturePtr> palette_textures_; 00119 std::vector<bool> color_scheme_transparency_; 00120 Ogre::MaterialPtr material_; 00121 bool loaded_; 00122 00123 std::string topic_; 00124 float resolution_; 00125 int width_; 00126 int height_; 00127 std::string frame_; 00128 nav_msgs::OccupancyGrid current_map_; 00129 00130 ros::Subscriber map_sub_; 00131 ros::Subscriber update_sub_; 00132 00133 RosTopicProperty* topic_property_; 00134 FloatProperty* resolution_property_; 00135 IntProperty* width_property_; 00136 IntProperty* height_property_; 00137 VectorProperty* position_property_; 00138 QuaternionProperty* orientation_property_; 00139 FloatProperty* alpha_property_; 00140 Property* draw_under_property_; 00141 EnumProperty* color_scheme_property_; 00142 }; 00143 00144 } // namespace rviz 00145 00146 #endif