00001 /* 00002 * Copyright (c) 2008, 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_POINT_CLOUD2_DISPLAY_H 00031 #define RVIZ_POINT_CLOUD2_DISPLAY_H 00032 00033 #include <sensor_msgs/PointCloud2.h> 00034 00035 #include "rviz/message_filter_display.h" 00036 00037 namespace rviz 00038 { 00039 00040 class IntProperty; 00041 class PointCloudCommon; 00042 00051 class PointCloud2Display: public MessageFilterDisplay<sensor_msgs::PointCloud2> 00052 { 00053 Q_OBJECT 00054 public: 00055 PointCloud2Display(); 00056 ~PointCloud2Display(); 00057 00058 virtual void reset(); 00059 00060 virtual void update( float wall_dt, float ros_dt ); 00061 00062 private Q_SLOTS: 00063 void updateQueueSize(); 00064 00065 protected: 00067 virtual void onInitialize(); 00068 00070 virtual void processMessage( const sensor_msgs::PointCloud2ConstPtr& cloud ); 00071 00072 IntProperty* queue_size_property_; 00073 00074 PointCloudCommon* point_cloud_common_; 00075 }; 00076 00077 } // namespace rviz 00078 00079 #endif