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_TF_DISPLAY_H 00031 #define RVIZ_TF_DISPLAY_H 00032 00033 #include <map> 00034 #include <set> 00035 00036 #include <OgreQuaternion.h> 00037 #include <OgreVector3.h> 00038 00039 #include "rviz/selection/forwards.h" 00040 00041 #include "rviz/display.h" 00042 00043 namespace Ogre 00044 { 00045 class SceneNode; 00046 } 00047 00048 namespace rviz 00049 { 00050 class Arrow; 00051 class Axes; 00052 class BoolProperty; 00053 class FloatProperty; 00054 class MovableText; 00055 class QuaternionProperty; 00056 class StringProperty; 00057 class VectorProperty; 00058 00059 class FrameInfo; 00060 class FrameSelectionHandler; 00061 typedef boost::shared_ptr<FrameSelectionHandler> FrameSelectionHandlerPtr; 00062 00064 class TFDisplay: public Display 00065 { 00066 Q_OBJECT 00067 public: 00068 TFDisplay(); 00069 virtual ~TFDisplay(); 00070 00071 virtual void update(float wall_dt, float ros_dt); 00072 00073 protected: 00074 // Overrides from Display 00075 virtual void onInitialize(); 00076 virtual void fixedFrameChanged(); 00077 virtual void reset(); 00078 00079 private Q_SLOTS: 00080 void updateShowAxes(); 00081 void updateShowArrows(); 00082 void updateShowNames(); 00083 void allEnabledChanged(); 00084 00085 private: 00086 void updateFrames(); 00087 FrameInfo* createFrame(const std::string& frame); 00088 void updateFrame(FrameInfo* frame); 00089 void deleteFrame(FrameInfo* frame, bool delete_properties); 00090 00091 FrameInfo* getFrameInfo(const std::string& frame); 00092 00093 void clear(); 00094 00095 // overrides from Display 00096 virtual void onEnable(); 00097 virtual void onDisable(); 00098 00099 Ogre::SceneNode* root_node_; 00100 Ogre::SceneNode* names_node_; 00101 Ogre::SceneNode* arrows_node_; 00102 Ogre::SceneNode* axes_node_; 00103 00104 typedef std::map<std::string, FrameInfo*> M_FrameInfo; 00105 M_FrameInfo frames_; 00106 00107 float update_timer_; 00108 00109 BoolProperty* show_names_property_; 00110 BoolProperty* show_arrows_property_; 00111 BoolProperty* show_axes_property_; 00112 FloatProperty* update_rate_property_; 00113 FloatProperty* frame_timeout_property_; 00114 BoolProperty* all_enabled_property_; 00115 00116 FloatProperty* scale_property_; 00117 00118 Property* frames_category_; 00119 Property* tree_category_; 00120 00121 bool changing_single_frame_enabled_state_; 00122 friend class FrameInfo; 00123 }; 00124 00126 class FrameInfo: public QObject 00127 { 00128 Q_OBJECT 00129 public: 00130 FrameInfo( TFDisplay* display ); 00131 00133 void setEnabled( bool enabled ); 00134 00135 public Q_SLOTS: 00137 void updateVisibilityFromFrame(); 00138 00140 void updateVisibilityFromSelection(); 00141 00142 public: 00143 TFDisplay* display_; 00144 std::string name_; 00145 std::string parent_; 00146 Axes* axes_; 00147 CollObjectHandle axes_coll_; 00148 FrameSelectionHandlerPtr selection_handler_; 00149 Arrow* parent_arrow_; 00150 MovableText* name_text_; 00151 Ogre::SceneNode* name_node_; 00152 00153 float distance_to_parent_; 00154 Ogre::Quaternion arrow_orientation_; 00155 00156 ros::Time last_update_; 00157 ros::Time last_time_to_fixed_; 00158 00159 VectorProperty* rel_position_property_; 00160 QuaternionProperty* rel_orientation_property_; 00161 VectorProperty* position_property_; 00162 QuaternionProperty* orientation_property_; 00163 StringProperty* parent_property_; 00164 BoolProperty* enabled_property_; 00165 00166 Property* tree_property_; 00167 }; 00168 00169 } // end namespace rviz 00170 00171 #endif // RVIZ_TF_DISPLAY_H