PathDisplay.h

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#ifndef PATH_DISPLAY_H
#define PATH_DISPLAY_H

#ifndef Q_MOC_RUN
#include <boost/circular_buffer.hpp>

#include <rviz/message_filter_display.h>
#include <nav_msgs/Path.h>
#include <rviz/ogre_helpers/arrow.h>
#endif

#include <rviz/properties/enum_property.h>

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class ColorProperty;
class EnumProperty;
class FloatProperty;
class IntProperty;
}

// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace tuw_nav_rviz
{

class PathVisual;

// Here we declare our new subclass of rviz::Display.  Every display
// which can be listed in the "Displays" panel is a subclass of
// rviz::Display.
class PathDisplay: public rviz::MessageFilterDisplay<nav_msgs::Path>
{
Q_OBJECT
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  PathDisplay();
  virtual ~PathDisplay();

  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onInitialize();

  // A helper to clear this display back to the initial state.
  virtual void reset();

  // These Qt slots get connected to signals indicating changes in the user-editable properties.
private Q_SLOTS:
  void updatePathColor();
  void updateShape();
  void updatePathScale();
  
  void updateOrientColor();
  void updateOrientShape();
  void updateOrientScale();
  void updateOrientDeltaS();
  
  void updateHistoryLength();
  
  // Function to handle an incoming ROS message.
private:
  void processMessage( const nav_msgs::Path::ConstPtr& msg );

  // Storage for the list of visuals.  It is a circular buffer where
  // data gets popped from the front (oldest) and pushed to the back (newest)
  boost::circular_buffer<boost::shared_ptr<PathVisual> > visuals_;

  
  // User-editable property variables.
  rviz::ColorProperty* color_path_property_;
  rviz::EnumProperty*  shape_property_;
  rviz::FloatProperty* scale_path_property_;
  
  rviz::ColorProperty* color_orient_property_;
  rviz::FloatProperty* scale_orient_property_;
  rviz::FloatProperty* path_delta_s_orient_property_;
  
  rviz::IntProperty* history_length_property_;
  
  enum LineStyle {
    LINES,
    BILLBOARDS
  };
};

} // end namespace tuw_nav_rviz

#endif // PATH_DISPLAY_H
// %EndTag(FULL_SOURCE)%