measuring_plugin.h

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#ifndef MAPVIZ_PLUGINS_MEASURING_PLUGIN_H_
#define MAPVIZ_PLUGINS_MEASURING_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// ROS Libraries
#include <ros/ros.h>

// Mapviz libraries
#include <mapviz/map_canvas.h>

// QT autogenerated files
#include "ui_measuring_config.h"

namespace mapviz_plugins
{
  class MeasuringPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT

    public:

      MeasuringPlugin();
      virtual ~MeasuringPlugin();

      bool Initialize(QGLWidget* canvas);
      void Shutdown() { };

      void Paint(QPainter* painter, double x, double y, double scale);
      void Draw(double x, double y, double scale);
      void Transform() { };

      void LoadConfig(const YAML::Node& node, const std::string& path);
      void SaveConfig(YAML::Emitter& emitter, const std::string& path);

      void DistanceCalculation();

      QWidget* GetConfigWidget(QWidget* parent);

      void PrintError(const std::string& message);
      void PrintInfo(const std::string& message);
      void PrintWarning(const std::string& message);

      bool SupportsPainting()
      {
        return true;
      }

    protected:
      bool eventFilter(QObject* object, QEvent* event);
      bool handleMousePress(QMouseEvent*);
      bool handleMouseRelease(QMouseEvent*);
      bool handleMouseMove(QMouseEvent*);

    protected Q_SLOTS:
      void Clear();
      void BkgndColorToggled(bool) { };
      void MeasurementsToggled(bool) { };
      void FontSizeChanged(int) { };
      void AlphaChanged(double) { };

    private:
      Ui::measuring_config ui_;
      QWidget* config_widget_;

      mapviz::MapCanvas* map_canvas_;
      tf::Vector3 last_position_;

      std::vector<tf::Vector3> vertices_;
      std::vector<tf::Vector3> transformed_vertices_;

      int selected_point_;
      bool is_mouse_down_;
      QPointF mouse_down_pos_;
      qint64 mouse_down_time_;

      qint64 max_ms_;
      qreal max_distance_;
      std::vector<double> measurements_;
  };

  struct MeasurementBox
  {
    QRectF rect;
    QString string;
  };

}

#endif // MAPVIZ_PLUGINS_MEASURING_PLUGIN_H_