footstep_display.h

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// -*- mode: c++ -*-
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#ifndef FOOTSTEP_DISPLAY_H
#define FOOTSTEP_DISPLAY_H

#include <jsk_footstep_msgs/FootstepArray.h>
#ifndef Q_MOC_RUN
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/ogre_helpers/movable_text.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#endif

namespace jsk_rviz_plugins
{
  class FootstepDisplay : public rviz::MessageFilterDisplay<jsk_footstep_msgs::FootstepArray>
  {
    Q_OBJECT
  public:
    FootstepDisplay();
    virtual ~FootstepDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    virtual void update(float wall_dt, float ros_dt);
  private:
    virtual void allocateCubes(size_t num);
    virtual void allocateTexts(size_t num);
    virtual double estimateTextSize(
      const jsk_footstep_msgs::Footstep& footstep);
    virtual double minNotZero(double a, double b);
    virtual void processMessage(const jsk_footstep_msgs::FootstepArray::ConstPtr& msg);
    virtual bool validateFloats(const jsk_footstep_msgs::FootstepArray& msg);
    
    rviz::FloatProperty* alpha_property_;
    rviz::FloatProperty* width_property_;
    rviz::FloatProperty* height_property_;
    rviz::FloatProperty* depth_property_;
    rviz::BoolProperty* show_name_property_;
    rviz::BoolProperty* use_group_coloring_property_;
    jsk_footstep_msgs::FootstepArray::ConstPtr latest_footstep_;
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<rviz::Shape> ShapePtr;
#else
    typedef boost::shared_ptr<rviz::Shape> ShapePtr;
#endif
    std::vector<ShapePtr> shapes_;
    std::vector<rviz::MovableText*> texts_;
    std::vector<Ogre::SceneNode*> text_nodes_;
    rviz::BillboardLine* line_;
    double width_, height_, depth_;
    double alpha_;
    bool show_name_;
    bool use_group_coloring_;
    //Ogre::SceneNode* scene_node_;
  private Q_SLOTS:
    void updateAlpha();
    void updateWidth();
    void updateHeight();
    void updateDepth();
    void updateShowName();
    void updateUseGroupColoring();
  };
}

#endif