tf_trajectory_display.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_

#ifndef Q_MOC_RUN
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/status_property.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <geometry_msgs/PointStamped.h>
#endif

namespace jsk_rviz_plugins
{

  class TFTrajectoryDisplay: public rviz::Display
  {
    Q_OBJECT
  public:
    TFTrajectoryDisplay();
    virtual ~TFTrajectoryDisplay();
  protected:
    virtual void onInitialize();
    virtual void onEnable();
    virtual void onDisable();
    virtual void update(float wall_dt, float ros_dt);

    rviz::TfFrameProperty* frame_property_;
    rviz::FloatProperty* duration_property_;
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* line_width_property_;
    rviz::BillboardLine* line_;
    std::vector<geometry_msgs::PointStamped> trajectory_;
    std::string frame_;
    std::string fixed_frame_;
    float duration_;
    QColor color_;
    float line_width_;
  protected Q_SLOTS:
    void updateFrame();
    void updateDuration();
    void updateColor();
    void updateLineWidth();
  };
}

#endif