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 #ifndef Q_MOC_RUN
00034 #include <boost/thread/thread.hpp>
00035 
00036 #include <OgreTexture.h>
00037 #include <OgreMaterial.h>
00038 #include <OgreVector3.h>
00039 #include <OgreSharedPtr.h>
00040 #endif
00041 
00042 #include <nav_msgs/MapMetaData.h>
00043 #include <ros/time.h>
00044 
00045 #include <nav_msgs/OccupancyGrid.h>
00046 #include <map_msgs/OccupancyGridUpdate.h>
00047 
00048 #include "rviz/display.h"
00049 
00050 namespace Ogre
00051 {
00052 class ManualObject;
00053 }
00054 
00055 namespace rviz
00056 {
00057 
00058 class EnumProperty;
00059 class FloatProperty;
00060 class IntProperty;
00061 class Property;
00062 class QuaternionProperty;
00063 class RosTopicProperty;
00064 class VectorProperty;
00065 
00070 class MapDisplay: public Display
00071 {
00072 Q_OBJECT
00073 public:
00074   MapDisplay();
00075   virtual ~MapDisplay();
00076 
00077   // Overrides from Display
00078   virtual void onInitialize();
00079   virtual void fixedFrameChanged();
00080   virtual void reset();
00081 
00082   float getResolution() { return resolution_; }
00083   int getWidth() { return width_; }
00084   int getHeight() { return height_; }
00085 
00086   virtual void setTopic( const QString &topic, const QString &datatype );
00087 
00088 Q_SIGNALS:
00090   void mapUpdated();
00091 
00092 protected Q_SLOTS:
00093   void updateAlpha();
00094   void updateTopic();
00095   void updateDrawUnder();
00096   void updatePalette();
00098   void showMap();
00099 
00100 protected:
00101   // overrides from Display
00102   virtual void onEnable();
00103   virtual void onDisable();
00104 
00105   virtual void subscribe();
00106   virtual void unsubscribe();
00107   virtual void update( float wall_dt, float ros_dt );
00108 
00110   void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);
00111 
00113   void incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update);
00114 
00115   void clear();
00116 
00117   void transformMap();
00118 
00119   Ogre::ManualObject* manual_object_;
00120   Ogre::TexturePtr texture_;
00121   std::vector<Ogre::TexturePtr> palette_textures_;
00122   std::vector<bool> color_scheme_transparency_;
00123   Ogre::MaterialPtr material_;
00124   bool loaded_;
00125 
00126   std::string topic_;
00127   float resolution_;
00128   int width_;
00129   int height_;
00130   std::string frame_;
00131   nav_msgs::OccupancyGrid current_map_;
00132 
00133   ros::Subscriber map_sub_;
00134   ros::Subscriber update_sub_;
00135 
00136   RosTopicProperty* topic_property_;
00137   FloatProperty* resolution_property_;
00138   IntProperty* width_property_;
00139   IntProperty* height_property_;
00140   VectorProperty* position_property_;
00141   QuaternionProperty* orientation_property_;
00142   FloatProperty* alpha_property_;
00143   Property* draw_under_property_;
00144   EnumProperty* color_scheme_property_;
00145 
00146   BoolProperty* unreliable_property_;
00147 };
00148 
00149 } // namespace rviz
00150 
00151  #endif


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Tue Oct 3 2017 03:19:31