move_base_plugin.h
Go to the documentation of this file.
1 // *****************************************************************************
2 //
3 // Copyright (c) 2017, 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_PLAN_ROUTE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <vector>
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 // Mapviz libraries
48 #include <mapviz/map_canvas.h>
49 
50 #include <geometry_msgs/PoseWithCovarianceStamped.h>
51 #include <move_base_msgs/MoveBaseAction.h>
53 
54 // QT autogenerated files
55 #include "ui_move_base_config.h"
56 
57 namespace mapviz_plugins
58 {
60  {
61  Q_OBJECT
62 
63  public:
65 
67  virtual ~MoveBasePlugin();
68 
69  bool Initialize(QGLWidget* canvas);
70  void Shutdown() {}
71 
72  void Draw(double x, double y, double scale);
73 
74  void Paint(QPainter* painter, double x, double y, double scale) {}
75  void Transform() {}
76 
77  void LoadConfig(const YAML::Node& node, const std::string& path);
78  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
79 
80  QWidget* GetConfigWidget(QWidget* parent);
81 
82  protected:
83  virtual void PrintError(const std::string& message) override;
84  virtual void PrintInfo(const std::string& message) override;
85  virtual void PrintWarning(const std::string& message) override;
86  virtual bool eventFilter(QObject *object, QEvent* event) override;
87  void timerCallback(const ros::TimerEvent& ev = ros::TimerEvent() );
88 
89  bool handleMousePress(QMouseEvent *);
90  bool handleMouseRelease(QMouseEvent *);
91  bool handleMouseMove(QMouseEvent *);
92 
93  private Q_SLOTS:
94  void on_pushButtonInitialPose_toggled(bool checked);
95  void on_pushButtonGoalPose_toggled(bool checked);
97 
98  private:
99 
100  Ui::move_base_config ui_;
101  QWidget* config_widget_;
103 
106 
110 
111  MoveBaseClient move_base_client_;
112  move_base_msgs::MoveBaseAction move_base_msg_;
115  };
116 }
117 
118 #endif // MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
move_base_msgs::MoveBaseAction move_base_msg_
void Paint(QPainter *painter, double x, double y, double scale)
QWidget * GetConfigWidget(QWidget *parent)
virtual bool eventFilter(QObject *object, QEvent *event) override
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
virtual void PrintError(const std::string &message) override
void timerCallback(const ros::TimerEvent &ev=ros::TimerEvent())
void Draw(double x, double y, double scale)
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > MoveBaseClient
bool handleMousePress(QMouseEvent *)
void on_pushButtonInitialPose_toggled(bool checked)
virtual void PrintInfo(const std::string &message) override
virtual void PrintWarning(const std::string &message) override
bool Initialize(QGLWidget *canvas)
void on_pushButtonGoalPose_toggled(bool checked)
bool handleMouseRelease(QMouseEvent *)
void LoadConfig(const YAML::Node &node, const std::string &path)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Fri Dec 16 2022 03:59:33