Displays a nav_grid of doubles along the XY plane. More...

Inheritance diagram for robot_nav_rviz_plugins::NavGridOfDoublesDisplay:

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Public Member Functions
	NavGridOfDoublesDisplay ()

void	onSubscribe (const std::string &topic) override
	Actual subscription logic, called by subscribe. More...

void	onUnsubscribe () override
	Actual unsubscription logic, called by unsubscribe. More...

void	updateIgnore ()

Public Member Functions inherited from robot_nav_rviz_plugins::NavGridDisplay
	NavGridDisplay (const std::string &data_type, bool include_ignore_property=false)
	Constructor for the display. More...

virtual	~NavGridDisplay ()

void	reset () override

void	setTopic (const QString &topic, const QString &datatype) override

void	update (float wall_dt, float ros_dt) override

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)

void	deleteStatusStd (const std::string &name)

	Display ()

void	emitTimeSignal (ros::Time time)

QWidget *	getAssociatedWidget () const

PanelDockWidget *	getAssociatedWidgetPanel ()

virtual QString	getClassId () const

Ogre::SceneNode *	getSceneNode () const

virtual QVariant	getViewData (int column, int role) const

virtual Qt::ItemFlags	getViewFlags (int column) const

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)

bool	isEnabled () const

virtual void	load (const Config &config)

virtual void	save (Config config) const

void	setAssociatedWidget (QWidget *widget)

virtual void	setClassId (const QString &class_id)

void	setFixedFrame (const QString &fixed_frame)

void	setName (const QString &name)

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

virtual	~Display ()

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property parent=0, const char changed_slot=0, QObject *receiver=0)

virtual bool	getBool () const

virtual bool	getDisableChildren ()

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

virtual	~BoolProperty ()

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)

Property *	childAt (int index) const

virtual Property *	childAtUnchecked (int index) const

virtual void	collapse ()

bool	contains (Property *possible_child) const

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)

virtual void	expand ()

virtual QString	getDescription () const

virtual bool	getHidden () const

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const

virtual QString	getName () const

std::string	getNameStd () const

Property *	getParent () const

virtual bool	getReadOnly ()

virtual QVariant	getValue () const

void	hide ()

bool	isAncestorOf (Property *possible_child) const

virtual void	moveChild (int from_index, int to_index)

virtual int	numChildren () const

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const

	Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property parent=0, const char changed_slot=0, QObject *receiver=0)

virtual void	removeChildren (int start_index=0, int count=-1)

int	rowNumberInParent () const

virtual void	setDescription (const QString &description)

virtual void	setHidden (bool hidden)

virtual void	setIcon (const QIcon &icon)

void	setModel (PropertyTreeModel *model)

void	setParent (Property *new_parent)

virtual void	setReadOnly (bool read_only)

void	setShouldBeSaved (bool save)

virtual bool	setValue (const QVariant &new_value)

bool	shouldBeSaved () const

void	show ()

virtual Property *	subProp (const QString &sub_name)

Property *	takeChild (Property *child)

virtual Property *	takeChildAt (int index)

virtual	~Property ()

Protected Member Functions
void	newDataCallback (const nav_core2::UIntBounds &bounds)

void	resetExtremeValues ()

Protected Member Functions inherited from robot_nav_rviz_plugins::NavGridDisplay
void	clear ()
	Clear the data and remove the objects from the screen. More...

IgnoreType	getIgnoreType () const

void	subscribe ()
	Called to trigger subscription, handles empty topics setting status. More...

void	transformMap ()
	Put the map in its proper place. More...

void	unsubscribe ()
	Called to trigger unsubscribing. More...

void	onInitialize () override

void	fixedFrameChanged () override

void	onEnable () override

void	onDisable () override

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()

bool	initialized () const

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)

Protected Attributes
nav_grid::VectorNavGrid< double >	double_data_

bool	first_data_

double	ignore_value_

rviz::FloatProperty *	max_property_

double	max_value_

rviz::FloatProperty *	min_property_

double	min_value_

nav_grid_pub_sub::NavGridOfDoublesSubscriber	sub_

Protected Attributes inherited from robot_nav_rviz_plugins::NavGridDisplay
rviz::FloatProperty *	alpha_property_

nav_grid::NavGridInfo	cached_info_

std::vector< std::string >	color_scheme_names_

rviz::EnumProperty *	color_scheme_property_

rviz::BoolProperty *	draw_behind_property_

rviz::IntProperty *	height_property_

rviz::FloatProperty *	ignore_property_

rviz::EnumProperty *	ignore_type_property_

pluginlib::ClassLoader< NavGridPalette >	palette_loader_

nav_grid::VectorNavGrid< unsigned char >	panel_data_

OgrePanel::Ptr	panel_display_

rviz::FloatProperty *	resolution_property_

rviz::RosTopicProperty *	topic_property_

rviz::BoolProperty *	unreliable_property_

rviz::IntProperty *	width_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_

QString	fixed_frame_

Ogre::SceneManager *	scene_manager_

Ogre::SceneNode *	scene_node_

ros::NodeHandle	threaded_nh_

ros::NodeHandle	update_nh_

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_

QIcon	icon_

PropertyTreeModel *	model_

QVariant	value_

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()

void	setEnabled (bool enabled)

virtual void	setIcon (const QIcon &icon)

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Signals inherited from robot_nav_rviz_plugins::NavGridDisplay
void	mapUpdated (const nav_core2::UIntBounds &updated_bounds)
	Custom signal emitted when new map data is received. More...

Signals inherited from rviz::Display
void	timeSignal (rviz::Display *display, ros::Time time)

Signals inherited from rviz::Property
void	aboutToChange ()

void	changed ()

void	childListChanged (Property *this_property)

Protected Types inherited from robot_nav_rviz_plugins::NavGridDisplay
enum	IgnoreType { IgnoreType::NONE, IgnoreType::VALUE, IgnoreType::LIMIT }

Protected Slots inherited from robot_nav_rviz_plugins::NavGridDisplay
void	updateAlpha ()

void	updateTopic ()

void	updatePalette ()

void	showMap (const nav_core2::UIntBounds &updated_bounds)

virtual void	updateIgnoreType ()

Detailed Description

Displays a nav_grid of doubles along the XY plane.

Unlike NavGridOfCharsDisplay, this requires a bit more processing before writing the data into `panel_data_. The double data must be scaled to values [0, 255] so as to map to colors in the palette. This requires tracking the extreme values of the grid to the best of our ability and scaling accordingly.

If only NavGridOfDoubles messages (with no NavGridOfDoublesUpdate messages) are published, then the min/max vals will be accurate. However, if update messages are published too, its possible that the update could overwrite the previous extreme values.

Consider a simple 4x1 grid containing [0.0, 10.0, 5.0, 5.0]. The min/max values will be 0.0 and 10.0 respectively. However, if an update is recieved that updates the first two values only to 6.0, the new grid will contain [6.0, 6.0, 5.0, 5.0] but the min/max will still be 0.0/10.0, because the entire grid will not be rescanned.

Definition at line 61 of file nav_grid_of_doubles_display.cpp.