Program Listing for File particle_cloud_display.hpp
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// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_
#define NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_
#include <memory>
#include <vector>
#include "nav2_msgs/msg/particle_cloud.hpp"
#include "rviz_rendering/objects/shape.hpp"
#include "rviz_common/message_filter_display.hpp"
namespace Ogre
{
class ManualObject;
} // namespace Ogre
namespace rviz_common
{
namespace properties
{
class EnumProperty;
class ColorProperty;
class FloatProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_rendering
{
class Arrow;
class Axes;
} // namespace rviz_rendering
namespace nav2_rviz_plugins
{
class FlatWeightedArrowsArray;
struct OgrePoseWithWeight
{
Ogre::Vector3 position;
Ogre::Quaternion orientation;
float weight;
};
class ParticleCloudDisplay : public rviz_common::MessageFilterDisplay<nav2_msgs::msg::ParticleCloud>
{
Q_OBJECT
public:
// TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call
// initialize instead
ParticleCloudDisplay(
rviz_common::DisplayContext * display_context,
Ogre::SceneNode * scene_node);
ParticleCloudDisplay();
~ParticleCloudDisplay() override;
void processMessage(nav2_msgs::msg::ParticleCloud::ConstSharedPtr msg) override;
void setShape(QString shape); // for testing
protected:
void onInitialize() override;
void reset() override;
private Q_SLOTS:
void updateShapeChoice();
void updateArrowColor();
void updateGeometry();
private:
void initializeProperties();
bool validateFloats(const nav2_msgs::msg::ParticleCloud & msg);
bool setTransform(std_msgs::msg::Header const & header);
void updateDisplay();
void updateArrows2d();
void updateArrows3d();
void updateAxes();
void updateArrow3dGeometry();
void updateAxesGeometry();
std::unique_ptr<rviz_rendering::Axes> makeAxes();
std::unique_ptr<rviz_rendering::Arrow> makeArrow3d();
std::vector<OgrePoseWithWeight> poses_;
std::unique_ptr<FlatWeightedArrowsArray> arrows2d_;
std::vector<std::unique_ptr<rviz_rendering::Arrow>> arrows3d_;
std::vector<std::unique_ptr<rviz_rendering::Axes>> axes_;
Ogre::SceneNode * arrow_node_;
Ogre::SceneNode * axes_node_;
rviz_common::properties::EnumProperty * shape_property_;
rviz_common::properties::ColorProperty * arrow_color_property_;
rviz_common::properties::FloatProperty * arrow_alpha_property_;
rviz_common::properties::FloatProperty * arrow_min_length_property_;
rviz_common::properties::FloatProperty * arrow_max_length_property_;
float min_length_;
float max_length_;
float length_scale_;
float head_radius_scale_;
float head_length_scale_;
float shaft_radius_scale_;
};
} // namespace nav2_rviz_plugins
#endif // NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_