point_drawing_plugin.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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 Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from 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 <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //
00028 // *****************************************************************************
00029 
00030 #ifndef MAPVIZ_POINT_DRAW_H_
00031 #define MAPVIZ_POINT_DRAW_H_
00032 
00033 // C++ standard libraries
00034 #include <string>
00035 #include <list>
00036 
00037 #include <mapviz/mapviz_plugin.h>
00038 #include <mapviz/map_canvas.h>
00039 
00040 // QT libraries
00041 #include <QGLWidget>
00042 #include <QObject>
00043 #include <QWidget>
00044 
00045 // ROS libraries
00046 #include <ros/ros.h>
00047 #include <tf/transform_datatypes.h>
00048 
00049 namespace mapviz_plugins
00050 {
00051   class PointDrawingPlugin : public mapviz::MapvizPlugin
00052   {
00053     Q_OBJECT
00054 
00055    public:
00056     struct StampedPoint
00057     {
00058       tf::Point point;
00059       tf::Quaternion orientation;
00060       tf::Point transformed_point;
00061       tf::Point transformed_arrow_point;
00062       tf::Point transformed_arrow_left;
00063       tf::Point transformed_arrow_right;
00064       std::string source_frame;
00065       bool transformed;
00066       ros::Time stamp;
00067 
00068       std::vector<tf::Point> cov_points;
00069       std::vector<tf::Point> transformed_cov_points;
00070     };
00071 
00072     enum DrawStyle
00073     {
00074       LINES = 0,
00075       POINTS,
00076       ARROWS
00077     };
00078 
00079     PointDrawingPlugin();
00080     virtual ~PointDrawingPlugin()
00081     {
00082     }
00083 
00084     void ClearHistory();
00085 
00086     virtual void Transform();
00087     virtual bool DrawPoints(double scale);
00088     virtual bool DrawArrows();
00089     virtual bool DrawArrow(const StampedPoint& point);
00090     virtual bool DrawLaps();
00091     virtual bool DrawLines();
00092     virtual void CollectLaps();
00093     virtual bool DrawLapsArrows();
00094     virtual bool TransformPoint(StampedPoint& point);
00095     virtual void UpdateColor(QColor base_color, int i);
00096 
00097    protected Q_SLOTS:
00098     virtual void BufferSizeChanged(int value);
00099     virtual void DrawIcon();
00100     virtual void SetColor(const QColor& color);
00101     virtual void SetDrawStyle(QString style);
00102     virtual void SetStaticArrowSizes(bool isChecked);
00103     virtual void SetArrowSize(int arrowSize);
00104     virtual void PositionToleranceChanged(double value);
00105 
00106    protected:
00107     int arrow_size_;
00108     DrawStyle draw_style_;
00109     StampedPoint cur_point_;
00110     std::list<StampedPoint> points_;
00111     double position_tolerance_;
00112     int buffer_size_;
00113     bool covariance_checked_;
00114     bool new_lap_;
00115     QColor color_;
00116     bool lap_checked_;
00117     int buffer_holder_;
00118     double scale_;
00119     bool static_arrow_sizes_;
00120 
00121    private:
00122     std::vector<std::list<StampedPoint> > laps_;
00123     bool got_begin_;
00124     tf::Point begin_;
00125   };
00126 }
00127 
00128 #endif  // MAPVIZ_PLUGINS_POINT_DRAW_H_


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 18:51:07