object_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_OBJECT_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_OBJECT_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 
41 // ROS libraries
42 #include <tf/transform_datatypes.h>
44 #include <marti_nav_msgs/TrackedObjectArray.h>
45 #include <marti_nav_msgs/ObstacleArray.h>
46 
47 #include <mapviz/map_canvas.h>
48 
49 // QT autogenerated files
50 #include "ui_object_config.h"
51 
52 namespace mapviz_plugins
53 {
55  {
56  Q_OBJECT
57 
58  public:
59  ObjectPlugin();
60  virtual ~ObjectPlugin();
61 
62  bool Initialize(QGLWidget* canvas);
63  void Shutdown() {}
64 
65  void Draw(double x, double y, double scale);
66  void Paint(QPainter* painter, 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  void ClearHistory();
74 
75  QWidget* GetConfigWidget(QWidget* parent);
76 
78  {
79  return true;
80  }
81 
82  protected:
83  void PrintError(const std::string& message);
84  void PrintInfo(const std::string& message);
85  void PrintWarning(const std::string& message);
86  void timerEvent(QTimerEvent *);
87 
88  protected Q_SLOTS:
89  void SelectTopic();
90  void TopicEdited();
91  void SetColor(const QColor& color);
92 
93  private:
94  struct Color
95  {
96  float r, g, b, a;
97  };
98 
99  struct StampedPoint
100  {
102 
104  };
105 
106  struct ObjectData
107  {
109 
110  std::vector<StampedPoint> polygon;
111  std::string id;
112 
113  std::string source_frame;
115 
117  bool active;
118  };
119 
120  Ui::object_config ui_;
121  QWidget* config_widget_;
122 
123  std::string topic_;
124  QColor color_;
125 
129 
130  std::vector<ObjectData> objects_;
131 
133  void handleTrack(const marti_nav_msgs::TrackedObject& obj);
134  void handleObstacle(const marti_nav_msgs::Obstacle& obj, const std_msgs::Header& header);
135  };
136 }
137 
138 #endif // MAPVIZ_PLUGINS_OBJECT_PLUGIN_H_
void timerEvent(QTimerEvent *)
std::vector< ObjectData > objects_
void Draw(double x, double y, double scale)
void handleMessage(const topic_tools::ShapeShifter::ConstPtr &msg)
bool Initialize(QGLWidget *canvas)
void Paint(QPainter *painter, double x, double y, double scale)
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
void PrintWarning(const std::string &message)
tf::Vector3 Point
QWidget * GetConfigWidget(QWidget *parent)
void SetColor(const QColor &color)
std::vector< StampedPoint > polygon
void LoadConfig(const YAML::Node &node, const std::string &path)
void handleObstacle(const marti_nav_msgs::Obstacle &obj, const std_msgs::Header &header)
void handleTrack(const marti_nav_msgs::TrackedObject &obj)
void PrintInfo(const std::string &message)
swri_transform_util::Transform local_transform
void PrintError(const std::string &message)


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