range_display.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RANGE_DISPLAY_H
#define RANGE_DISPLAY_H

#include <sensor_msgs/Range.h>

#include "rviz/message_filter_display.h"

namespace rviz
{
class Shape;
}

namespace rviz
{

class ColorProperty;
class FloatProperty;
class IntProperty;

class RangeDisplay: public MessageFilterDisplay<sensor_msgs::Range>
{
Q_OBJECT
public:
  RangeDisplay();
  virtual ~RangeDisplay();

  virtual void reset();

protected:
  virtual void onInitialize();

  virtual void processMessage( const sensor_msgs::Range::ConstPtr& msg );

private Q_SLOTS:
  void updateBufferLength();
  void updateColorAndAlpha();
  void updateQueueSize();

private:
  std::vector<Shape* > cones_;      

  ColorProperty* color_property_;
  FloatProperty* alpha_property_;
  IntProperty* buffer_length_property_;
  IntProperty* queue_size_property_;
};

} // namespace range_plugin

#endif /* RANGE_DISPLAY_H */