polygons_display.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_POLYGONS_DISPLAY_H
#define ROBOT_NAV_RVIZ_PLUGINS_POLYGONS_DISPLAY_H

#include <nav_2d_msgs/Polygon2DCollection.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/enum_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <robot_nav_rviz_plugins/polygon_parts.h>
#include <OgreManualObject.h>
#include <OgreMaterial.h>
#include <string>
#include <vector>

namespace robot_nav_rviz_plugins
{
class PolygonsDisplay: public rviz::MessageFilterDisplay<nav_2d_msgs::Polygon2DCollection>
{
Q_OBJECT
public:
  PolygonsDisplay();
  virtual ~PolygonsDisplay();
  void reset() override;

protected:
  void processMessage(const nav_2d_msgs::Polygon2DCollection::ConstPtr& msg) override;
  void resetOutlines();
  void resetFillers();

private Q_SLOTS:
  void updateStyle();
  void updateProperties();

private:
  std::vector<nav_2d_msgs::Polygon2D> saved_outlines_;
  nav_2d_msgs::Polygon2DCollection saved_polygons_;

  std::vector<PolygonOutline*> outline_objects_;
  std::vector<PolygonFill*> filler_objects_;
  PolygonMaterial polygon_material_;

  PolygonDisplayModeProperty* mode_property_;
  rviz::FloatProperty* zoffset_property_;
  rviz::ColorProperty* outline_color_property_;
  rviz::ColorProperty* filler_color_property_;
  rviz::FloatProperty* filler_alpha_property_;

  enum struct FillColorMode {SINGLE, FROM_MSG, UNIQUE};
  FillColorMode getFillColorMode() const { return static_cast<FillColorMode>(color_mode_property_->getOptionInt()); }
  rviz::EnumProperty* color_mode_property_;

  std::vector<std_msgs::ColorRGBA> unique_colors_;
};
}  // namespace robot_nav_rviz_plugins

#endif  // ROBOT_NAV_RVIZ_PLUGINS_POLYGONS_DISPLAY_H