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 RANGE_DISPLAY_H 00031 #define RANGE_DISPLAY_H 00032 00033 #include <sensor_msgs/Range.h> 00034 00035 #include "rviz/message_filter_display.h" 00036 00037 namespace rviz 00038 { 00039 class Shape; 00040 } 00041 00042 namespace rviz 00043 { 00044 00045 class ColorProperty; 00046 class FloatProperty; 00047 class IntProperty; 00048 00053 class RangeDisplay: public MessageFilterDisplay<sensor_msgs::Range> 00054 { 00055 Q_OBJECT 00056 public: 00057 RangeDisplay(); 00058 virtual ~RangeDisplay(); 00059 00061 virtual void reset(); 00062 00063 protected: 00065 virtual void onInitialize(); 00066 00068 virtual void processMessage( const sensor_msgs::Range::ConstPtr& msg ); 00069 00070 private Q_SLOTS: 00071 void updateBufferLength(); 00072 void updateColorAndAlpha(); 00073 void updateQueueSize(); 00074 00075 private: 00076 std::vector<Shape* > cones_; 00077 00078 ColorProperty* color_property_; 00079 FloatProperty* alpha_property_; 00080 IntProperty* buffer_length_property_; 00081 IntProperty* queue_size_property_; 00082 }; 00083 00084 } // namespace range_plugin 00085 00086 #endif /* RANGE_DISPLAY_H */ 00087