trajectory_display.h

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/* Author: Dave Coleman
   Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
*/

#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY
#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY

#include <rviz/display.h>

#include <moveit/rviz_plugin_render_tools/trajectory_visualization.h>
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <moveit/rdf_loader/rdf_loader.h>
#endif

namespace rviz
{
class StringProperty;
}

namespace moveit_rviz_plugin
{
class TrajectoryDisplay : public rviz::Display
{
  Q_OBJECT
  // friend class TrajectoryVisualization; // allow the visualization class to access the display

public:
  TrajectoryDisplay();

  virtual ~TrajectoryDisplay();

  void loadRobotModel();

  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

  // overrides from Display
  virtual void onInitialize();
  virtual void onEnable();
  virtual void onDisable();
  void setName(const QString& name);

private Q_SLOTS:
  void changedRobotDescription();

protected:
  // The trajectory playback component
  TrajectoryVisualizationPtr trajectory_visual_;

  // Load robot model
  rdf_loader::RDFLoaderPtr rdf_loader_;
  robot_model::RobotModelConstPtr robot_model_;
  robot_state::RobotStatePtr robot_state_;
  bool load_robot_model_;  // for delayed robot initialization

  // Properties
  rviz::StringProperty* robot_description_property_;
};

}  // namespace moveit_rviz_plugin

#endif