robot_image_plugin.h
Go to the documentation of this file.
1 // *****************************************************************************
2 //
3 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
4 // All rights reserved.
5 //
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright
9 // notice, this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 // * Neither the name of Southwest Research Institute® (SwRI®) nor the
14 // names of its contributors may be used to endorse or promote products
15 // derived from this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //
28 // *****************************************************************************
29 
30 #ifndef MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 
36 #include <mapviz/mapviz_plugin.h>
37 
38 // QT libraries
39 #include <QGLWidget>
40 #include <QObject>
41 #include <QWidget>
42 
43 // ROS libraries
44 #include <ros/ros.h>
45 #include <tf/transform_datatypes.h>
46 
47 #include <mapviz/map_canvas.h>
48 
49 // QT autogenerated files
50 #include "ui_robot_image_config.h"
51 #include "ui_topic_select.h"
52 
53 namespace mapviz_plugins
54 {
56  {
57  Q_OBJECT
58 
59  public:
61  virtual ~RobotImagePlugin();
62 
63  bool Initialize(QGLWidget* canvas);
64  void Shutdown() {}
65 
66  void Draw(double x, double y, double scale);
67 
68  void Transform();
69 
70  void LoadConfig(const YAML::Node& node, const std::string& path);
71  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
72 
73  QWidget* GetConfigWidget(QWidget* parent);
74 
75  protected:
76  void PrintError(const std::string& message);
77  void PrintInfo(const std::string& message);
78  void PrintWarning(const std::string& message);
79 
80  protected Q_SLOTS:
81  void SelectFile();
82  void SelectFrame();
83  void FrameEdited();
84  void WidthChanged(double value);
85  void HeightChanged(double value);
86  void RatioEqualToggled(bool toggled);
87  void RatioCustomToggled(bool toggled);
88  void RatioOriginalToggled(bool toggled);
89 
90  private:
91  Ui::robot_image_config ui_;
92  QWidget* config_widget_;
93 
94  double width_;
95  double height_;
96  double image_ratio_;
97 
98  std::string filename_;
99  QImage image_;
103 
105 
110 
115 
116  void UpdateShape();
117  void LoadImage();
118  };
119 }
120 
121 #endif // MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
void PrintWarning(const std::string &message)
void PrintError(const std::string &message)
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
QWidget * GetConfigWidget(QWidget *parent)
void PrintInfo(const std::string &message)
TFSIMD_FORCE_INLINE const tfScalar & y() const
void Draw(double x, double y, double scale)
TFSIMD_FORCE_INLINE const tfScalar & x() const
void LoadConfig(const YAML::Node &node, const std::string &path)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 19:25:16