pose_with_covariance_display.cpp

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/*
 * Copyright (c) 2012, 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
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#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>

#include <tf/transform_listener.h>

#include <rviz/visualization_manager.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/frame_manager.h>

#include "pose_with_covariance/pose_with_covariance_display.h"
#include "pose_with_covariance/pose_with_covariance_visual.h"

namespace tuw_pose_rviz_plugin {

// The constructor must have no arguments, so we can't give the
// constructor the parameters it needs to fully initialize.
PoseWithCovarianceDisplay::PoseWithCovarianceDisplay() {
    property_scale_pose_ = new rviz::FloatProperty ( "Scale Pose", 0.4,
            "Scale of the pose's pose.",
            this, SLOT ( updateScalePose() ) );
    property_scale_pose_->setMin ( 0 );
    property_scale_pose_->setMax ( 1 );

    property_color_pose_ = new rviz::ColorProperty ( "Color Pose", QColor ( 204, 51, 0 ),
            "Color to draw the pose's pose.",
            this, SLOT ( updateColorPose() ) );

    property_color_variance_ = new rviz::ColorProperty ( "Color Variance", QColor ( 204, 51, 204 ),
            "Color to draw the pose's variance.",
            this, SLOT ( updateColorVariance() ) );
}

// After the top-level rviz::Display::initialize() does its own setup,
// it calls the subclass's onInitialize() function.  This is where we
// instantiate all the workings of the class.  We make sure to also
// call our immediate super-class's onInitialize() function, since it
// does important stuff setting up the message filter.
//
//  Note that "MFDClass" is a typedef of
// ``MessageFilterDisplay<message type>``, to save typing that long
// templated class name every time you need to refer to the
// superclass.
void PoseWithCovarianceDisplay::onInitialize() {
    MFDClass::onInitialize();
    visual_.reset ( new PoseWithCovarianceVisual ( context_->getSceneManager(), scene_node_ ) );
}

PoseWithCovarianceDisplay::~PoseWithCovarianceDisplay() {
}

// Clear the visual by deleting its object.
void PoseWithCovarianceDisplay::reset() {
    MFDClass::reset();
}

// Set the current scale for the visual's pose.
void PoseWithCovarianceDisplay::updateScalePose() {
    float scale = property_scale_pose_->getFloat();
    visual_->setScalePose ( scale );
}

// Set the current color for the visual's pose.
void PoseWithCovarianceDisplay::updateColorPose() {
    Ogre::ColourValue color = property_color_pose_->getOgreColor();
    visual_->setColorPose ( color );
}

// Set the current color for the visual's variance.
void PoseWithCovarianceDisplay::updateColorVariance() {
    Ogre::ColourValue color = property_color_variance_->getOgreColor();
    visual_->setColorVariance ( color );
}

// This is our callback to handle an incoming message.
void PoseWithCovarianceDisplay::processMessage ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg ) {
    // Here we call the rviz::FrameManager to get the transform from the
    // fixed frame to the frame in the header of this Imu message.  If
    // it fails, we can't do anything else so we return.
    Ogre::Quaternion orientation;
    Ogre::Vector3 position;

    if ( !context_->getFrameManager()->getTransform ( msg->header.frame_id, msg->header.stamp, position, orientation ) ) {
        ROS_DEBUG ( "Error transforming from frame '%s' to frame '%s'",
                    msg->header.frame_id.c_str(), qPrintable ( fixed_frame_ ) );
        return;
    }

    // Now set or update the contents of the visual.
    visual_->setMessage ( msg );
    visual_->setFramePosition ( position );
    visual_->setFrameOrientation ( orientation );
    visual_->setScalePose ( property_scale_pose_->getFloat() );
    visual_->setColorPose ( property_color_pose_->getOgreColor() );
    visual_->setColorVariance ( property_color_variance_->getOgreColor() );
}

} // end namespace tuw_pose_rviz_plugin

// Tell pluginlib about this class.  It is important to do this in
// global scope, outside our package's namespace.
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (tuw_pose_rviz_plugin::PoseWithCovarianceDisplay,rviz::Display )