odometry_display.h
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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 
00031 #ifndef RVIZ_ODOMETRY_DISPLAY_H_
00032 #define RVIZ_ODOMETRY_DISPLAY_H_
00033 
00034 #include <deque>
00035 
00036 #include <boost/shared_ptr.hpp>
00037 #include <boost/thread/mutex.hpp>
00038 
00039 #ifndef Q_MOC_RUN
00040 #include <message_filters/subscriber.h>
00041 #include <tf/message_filter.h>
00042 #endif
00043 
00044 #include <nav_msgs/Odometry.h>
00045 
00046 #include "rviz/display.h"
00047 
00048 namespace rviz
00049 {
00050 
00051 class Arrow;
00052 class ColorProperty;
00053 class FloatProperty;
00054 class IntProperty;
00055 class RosTopicProperty;
00056 
00061 class OdometryDisplay: public Display
00062 {
00063 Q_OBJECT
00064 public:
00065   OdometryDisplay();
00066   virtual ~OdometryDisplay();
00067 
00068   // Overrides from Display
00069   virtual void onInitialize();
00070   virtual void fixedFrameChanged();
00071   virtual void update( float wall_dt, float ros_dt );
00072   virtual void reset();
00073 
00074   virtual void setTopic( const QString &topic, const QString &datatype );
00075 
00076 protected:
00077   // overrides from Display
00078   virtual void onEnable();
00079   virtual void onDisable();
00080 
00081 private Q_SLOTS:
00082   void updateColor();
00083   void updateTopic();
00084   void updateLength();
00085 
00086 private:
00087   void subscribe();
00088   void unsubscribe();
00089   void clear();
00090 
00091   void incomingMessage( const nav_msgs::Odometry::ConstPtr& message );
00092   void transformArrow( const nav_msgs::Odometry::ConstPtr& message, Arrow* arrow );
00093 
00094   typedef std::deque<Arrow*> D_Arrow;
00095   D_Arrow arrows_;
00096 
00097   uint32_t messages_received_;
00098 
00099   nav_msgs::Odometry::ConstPtr last_used_message_;
00100   message_filters::Subscriber<nav_msgs::Odometry> sub_;
00101   tf::MessageFilter<nav_msgs::Odometry>* tf_filter_;
00102 
00103   ColorProperty* color_property_;
00104   RosTopicProperty* topic_property_;
00105   FloatProperty* position_tolerance_property_;
00106   FloatProperty* angle_tolerance_property_;
00107   IntProperty* keep_property_;
00108   FloatProperty* length_property_;
00109 };
00110 
00111 } // namespace rviz
00112 
00113 #endif /* RVIZ_ODOMETRY_DISPLAY_H_ */


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