map_display.h
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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


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27