#include <laserscan_plugin.h>

Inheritance diagram for mapviz_plugins::LaserScanPlugin:

Classes
struct	Scan

struct	StampedPoint

Public Types
enum	{ COLOR_FLAT = 0, COLOR_INTENSITY = 1, COLOR_RANGE = 2, COLOR_X = 3, COLOR_Y = 4, COLOR_Z = 5 }

Public Member Functions
void	ClearHistory ()

void	Draw (double x, double y, double scale)

QWidget *	GetConfigWidget (QWidget *parent)

bool	Initialize (QGLWidget *canvas)

	LaserScanPlugin ()

void	LoadConfig (const YAML::Node &node, const std::string &path)

void	SaveConfig (YAML::Emitter &emitter, const std::string &path)

void	Shutdown ()

void	Transform ()

virtual	~LaserScanPlugin ()

Public Member Functions inherited from mapviz::MapvizPlugin
int	DrawOrder () const

void	DrawPlugin (double x, double y, double scale)

bool	GetTransform (const ros::Time &stamp, swri_transform_util::Transform &transform, bool use_latest_transforms=true)

bool	GetTransform (const std::string &source, const ros::Time &stamp, swri_transform_util::Transform &transform)

virtual bool	Initialize (boost::shared_ptr< tf::TransformListener > tf_listener, swri_transform_util::TransformManagerPtr tf_manager, QGLWidget *canvas)

std::string	Name () const

virtual void	Paint (QPainter *painter, double x, double y, double scale)

void	PaintPlugin (QPainter *painter, double x, double y, double scale)

void	PrintMeasurements ()

void	SetDrawOrder (int order)

void	SetIcon (IconWidget *icon)

void	SetName (const std::string &name)

virtual void	SetNode (const ros::NodeHandle &node)

void	SetTargetFrame (std::string frame_id)

void	SetType (const std::string &type)

void	SetUseLatestTransforms (bool value)

void	SetVisible (bool visible)

std::string	Type () const

bool	Visible () const

virtual	~MapvizPlugin ()

Protected Slots
void	AlphaEdited (double val)

void	BufferSizeChanged (int value)

void	ColorTransformerChanged (int index)

void	DrawIcon ()

void	MaxValueChanged (double value)

void	MinValueChanged (double value)

void	PointSizeChanged (int value)

void	ResetTransformedScans ()

void	SelectTopic ()

void	TopicEdited ()

void	UpdateColors ()

void	UseRainbowChanged (int check_state)

Protected Member Functions
void	PrintError (const std::string &message)

void	PrintInfo (const std::string &message)

void	PrintWarning (const std::string &message)

Protected Member Functions inherited from mapviz::MapvizPlugin
	MapvizPlugin ()

Private Member Functions
QColor	CalculateColor (const StampedPoint &point, bool has_intensity)

bool	GetScanTransform (const Scan &scan, swri_transform_util::Transform &transform)

void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &scan)

void	updatePreComputedTriginometic (const sensor_msgs::LaserScanConstPtr &msg)

Private Attributes
double	alpha_

size_t	buffer_size_

QWidget *	config_widget_

bool	has_message_

ros::Subscriber	laserscan_sub_

double	max_value_

double	min_value_

size_t	point_size_

std::vector< double >	precomputed_cos_

std::vector< double >	precomputed_sin_

float	prev_angle_min_

float	prev_increment_

size_t	prev_ranges_size_

std::deque< Scan >	scans_

std::string	topic_

Ui::laserscan_config	ui_

Additional Inherited Members
Public Slots inherited from mapviz::MapvizPlugin
virtual void	DrawIcon ()

virtual bool	SupportsPainting ()

Signals inherited from mapviz::MapvizPlugin
void	DrawOrderChanged (int draw_order)

void	SizeChanged ()

void	TargetFrameChanged (const std::string &target_frame)

void	UseLatestTransformsChanged (bool use_latest_transforms)

void	VisibleChanged (bool visible)

Static Public Member Functions inherited from mapviz::MapvizPlugin
static void	PrintErrorHelper (QLabel *status_label, const std::string &message, double throttle=0.0)

static void	PrintInfoHelper (QLabel *status_label, const std::string &message, double throttle=0.0)

static void	PrintWarningHelper (QLabel *status_label, const std::string &message, double throttle=0.0)

Protected Attributes inherited from mapviz::MapvizPlugin
QGLWidget *	canvas_

int	draw_order_

IconWidget *	icon_

bool	initialized_

std::string	name_

ros::NodeHandle	node_

std::string	source_frame_

std::string	target_frame_

boost::shared_ptr< tf::TransformListener >	tf_

swri_transform_util::TransformManagerPtr	tf_manager_

std::string	type_

bool	use_latest_transforms_

bool	visible_

Detailed Description

Definition at line 52 of file laserscan_plugin.h.

Member Enumeration Documentation

anonymous enum

Enumerator
COLOR_FLAT
COLOR_INTENSITY
COLOR_RANGE
COLOR_X
COLOR_Y
COLOR_Z

Definition at line 57 of file laserscan_plugin.h.

Constructor & Destructor Documentation

mapviz_plugins::LaserScanPlugin::LaserScanPlugin ( )

Definition at line 62 of file laserscan_plugin.cpp.

mapviz_plugins::LaserScanPlugin::~LaserScanPlugin ( )

virtual

Definition at line 158 of file laserscan_plugin.cpp.

Member Function Documentation

void mapviz_plugins::LaserScanPlugin::AlphaEdited ( double val )

protectedslot

Coerces alpha to [0.0, 1.0] and stores it in alpha_

Definition at line 679 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::BufferSizeChanged ( int value )

protectedslot

Definition at line 323 of file laserscan_plugin.cpp.

QColor mapviz_plugins::LaserScanPlugin::CalculateColor	(	const StampedPoint &	point,
		bool	has_intensity
	)

private

Definition at line 210 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::ClearHistory ( )

virtual

Reimplemented from mapviz::MapvizPlugin.

Definition at line 162 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::ColorTransformerChanged ( int index )

protectedslot

Definition at line 640 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::Draw	(	double	x,
		double	y,
		double	scale
	)

virtual

Implements mapviz::MapvizPlugin.

Definition at line 471 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::DrawIcon ( )

protectedslot

Definition at line 168 of file laserscan_plugin.cpp.

QWidget * mapviz_plugins::LaserScanPlugin::GetConfigWidget ( QWidget * parent )

virtual

Reimplemented from mapviz::MapvizPlugin.

Definition at line 455 of file laserscan_plugin.cpp.

bool mapviz_plugins::LaserScanPlugin::GetScanTransform	(	const Scan &	scan,
		swri_transform_util::Transform &	transform
	)

private

Definition at line 363 of file laserscan_plugin.cpp.

bool mapviz_plugins::LaserScanPlugin::Initialize ( QGLWidget * canvas )

virtual

Implements mapviz::MapvizPlugin.

Definition at line 462 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::laserScanCallback ( const sensor_msgs::LaserScanConstPtr & scan )

private

Definition at line 380 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::LoadConfig	(	const YAML::Node &	node,
		const std::string &	path
	)

virtual

Implements mapviz::MapvizPlugin.

Definition at line 554 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::MaxValueChanged ( double value )

protectedslot

Definition at line 317 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::MinValueChanged ( double value )

protectedslot

Definition at line 311 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::PointSizeChanged ( int value )

protectedslot

Definition at line 336 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::PrintError ( const std::string & message )

protectedvirtual

Implements mapviz::MapvizPlugin.

Definition at line 440 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::PrintInfo ( const std::string & message )

protectedvirtual

Implements mapviz::MapvizPlugin.

Definition at line 445 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::PrintWarning ( const std::string & message )

protectedvirtual

Implements mapviz::MapvizPlugin.

Definition at line 450 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::ResetTransformedScans ( )

protectedslot

Definition at line 202 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::SaveConfig	(	YAML::Emitter &	emitter,
		const std::string &	path
	)

virtual

Implements mapviz::MapvizPlugin.

Definition at line 684 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::SelectTopic ( )

protectedslot

Definition at line 274 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::Shutdown ( )

inlinevirtual

Implements mapviz::MapvizPlugin.

Definition at line 70 of file laserscan_plugin.h.

void mapviz_plugins::LaserScanPlugin::TopicEdited ( )

protectedslot

Definition at line 286 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::Transform ( )

virtual

Implements mapviz::MapvizPlugin.

Definition at line 521 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::UpdateColors ( )

protectedslot

Definition at line 261 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::updatePreComputedTriginometic ( const sensor_msgs::LaserScanConstPtr & msg )

private

Definition at line 341 of file laserscan_plugin.cpp.

void mapviz_plugins::LaserScanPlugin::UseRainbowChanged ( int check_state )

protectedslot

Definition at line 502 of file laserscan_plugin.cpp.

Member Data Documentation

double mapviz_plugins::LaserScanPlugin::alpha_

private

Definition at line 132 of file laserscan_plugin.h.

size_t mapviz_plugins::LaserScanPlugin::buffer_size_

private

Definition at line 136 of file laserscan_plugin.h.

QWidget* mapviz_plugins::LaserScanPlugin::config_widget_

private

Definition at line 129 of file laserscan_plugin.h.

bool mapviz_plugins::LaserScanPlugin::has_message_

private

Definition at line 138 of file laserscan_plugin.h.

ros::Subscriber mapviz_plugins::LaserScanPlugin::laserscan_sub_

private

Definition at line 144 of file laserscan_plugin.h.

double mapviz_plugins::LaserScanPlugin::max_value_

private

Definition at line 134 of file laserscan_plugin.h.

double mapviz_plugins::LaserScanPlugin::min_value_

private

Definition at line 133 of file laserscan_plugin.h.

size_t mapviz_plugins::LaserScanPlugin::point_size_

private

Definition at line 135 of file laserscan_plugin.h.

std::vector<double> mapviz_plugins::LaserScanPlugin::precomputed_cos_

private

Definition at line 145 of file laserscan_plugin.h.

std::vector<double> mapviz_plugins::LaserScanPlugin::precomputed_sin_

private

Definition at line 146 of file laserscan_plugin.h.

float mapviz_plugins::LaserScanPlugin::prev_angle_min_

private

Definition at line 148 of file laserscan_plugin.h.

float mapviz_plugins::LaserScanPlugin::prev_increment_

private

Definition at line 149 of file laserscan_plugin.h.

size_t mapviz_plugins::LaserScanPlugin::prev_ranges_size_

private

Definition at line 147 of file laserscan_plugin.h.

std::deque<Scan> mapviz_plugins::LaserScanPlugin::scans_

private

Definition at line 143 of file laserscan_plugin.h.

std::string mapviz_plugins::LaserScanPlugin::topic_

private

Definition at line 131 of file laserscan_plugin.h.

Ui::laserscan_config mapviz_plugins::LaserScanPlugin::ui_

private

Definition at line 128 of file laserscan_plugin.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Slots

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation