pictogram_display.h

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// -*- mode: c++ -*-
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 * Software License Agreement (BSD License)
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#ifndef JSK_RVIZ_PLUGIN_PICTOGRAM_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_PICTOGRAM_DISPLAY_H_

#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/enum_property.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <jsk_rviz_plugins/Pictogram.h>
#include "facing_visualizer.h"
#endif

namespace jsk_rviz_plugins
{
  void setupFont();
  int addFont(unsigned char* data, unsigned int data_len);
  bool isFontAwesome(std::string);
  bool isEntypo(std::string);
  bool isCharacterSupported(std::string character);
  QFont getFont(std::string character);
  QString lookupPictogramText(std::string character);
  // PictogramObject
  class PictogramObject: public FacingTexturedObject
  {
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<PictogramObject> Ptr;
#else
    typedef boost::shared_ptr<PictogramObject> Ptr;
#endif
    PictogramObject(Ogre::SceneManager* manager,
                    Ogre::SceneNode* parent,
                    double size);
    virtual void update(float wall_dt, float ros_dt);
    virtual void setEnable(bool enable);
    virtual void setText(std::string text);
    virtual void setAlpha(double alpha);
    virtual void setColor(QColor color);
    virtual void setSize(double size);
    virtual void setSpeed(double speed);
    virtual void setPose(const geometry_msgs::Pose& pose,
                         const std::string& frame_id);
    virtual void start();
    virtual void setContext(rviz::DisplayContext* context);
    virtual void setAction(uint8_t action);
    virtual void setMode(uint8_t mode);
    virtual void setTTL(double ttl);
  protected:
    virtual void updatePose(float dt);
    virtual void updateColor();
    virtual void updateText();
    
    bool need_to_update_;
    uint8_t action_;
    geometry_msgs::Pose pose_;
    std::string frame_id_;
    rviz::DisplayContext* context_;
    ros::WallTime time_;
    double ttl_;
    double speed_;
    uint8_t mode_;
  private:
    
  };

  
  // Display to visualize pictogram on rviz
  class PictogramDisplay:
    public rviz::MessageFilterDisplay<jsk_rviz_plugins::Pictogram>
  {
    Q_OBJECT
  public:
    PictogramDisplay();
    virtual ~PictogramDisplay();
  protected:
    
    // methods
    virtual void onInitialize();
    virtual void reset();
    virtual void onEnable();
    void processMessage(const jsk_rviz_plugins::Pictogram::ConstPtr& msg);
    void update(float wall_dt, float ros_dt);

    // parameters
    boost::mutex mutex_;
    PictogramObject::Ptr pictogram_;
  private Q_SLOTS:
    
  private:
  };
}

#endif