stdr_gui_laser.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef STDR_GUI_LASER_CONTAINER
#define STDR_GUI_LASER_CONTAINER

#include "stdr_gui/stdr_tools.h"
#include "stdr_msgs/LaserSensorMsg.h"
#include "sensor_msgs/LaserScan.h"

namespace stdr_gui
{
  class CGuiLaser
  {
    //------------------------------------------------------------------------//
    private:
      
      bool lock_;
      std::string topic_;
      
      std::string tf_frame_;
      
      stdr_msgs::LaserSensorMsg msg_;
      
      ros::Subscriber subscriber_;
      
      sensor_msgs::LaserScan scan_;
      
      char visualization_status_;
      
    //------------------------------------------------------------------------//
    public:
    
      CGuiLaser(stdr_msgs::LaserSensorMsg msg,std::string baseTopic);
      
      ~CGuiLaser(void);
      
      void callback(const sensor_msgs::LaserScan& msg); 
      
      void paint(QImage *m,float ocgd,tf::TransformListener *listener);
      
      void visualizerPaint(QImage *m,float ocgd,float maxRange);
      
      float getMaxRange(void);
      
      char getVisualizationStatus(void);
      
      void toggleVisualizationStatus(void);
      
      void setVisualizationStatus(char vs);
      
      std::string getFrameId(void);
  };  
}

#endif