hri_skeletons.hpp

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// Copyright 2021 PAL Robotics S.L.
// Copyright 2008, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the Willow Garage, Inc., PAL Robotics S.L. nor the
//    names of its contributors may be used to endorse or promote products
//    derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RVIZ_HRI_SKELETONS_H
#define RVIZ_HRI_SKELETONS_H
 
#include <OGRE/OgreVector3.h>
#include <hri_msgs/IdsList.h>
#include <rviz/display.h>
 
#include <map>
 
namespace Ogre {
class Entity;
class SceneNode;
}  // namespace Ogre
 
namespace rviz {
class Axes;
}
 
namespace rviz {
class FloatProperty;
class Property;
class Robot;
class StringProperty;
 
typedef std::shared_ptr<Robot> RobotPtr;
 
class HumansModelDisplay : public Display {
  Q_OBJECT
 public:
  HumansModelDisplay();
  ~HumansModelDisplay() override;
 
  // Overrides from Display
  void onInitialize() override;
  void update(float wall_dt, float ros_dt) override;
  void fixedFrameChanged() override;
  void reset() override;
  using Display::load;
 
  void clear();
 
 private Q_SLOTS:
  void updateVisualVisible();
  void updateCollisionVisible();
  void updateTfPrefix();
  void updateAlpha();
  // void updateRobotDescription();
 
 protected:
  // virtual void load();
 
  // overrides from Display
  void onEnable() override;
  void onDisable() override;
  bool pluginEnabled_;
 
  bool has_new_transforms_;  
 
  float time_since_last_transform_;
 
  std::string robot_description_;
 
  Property* visual_enabled_property_;
  Property* collision_enabled_property_;
  FloatProperty* update_rate_property_;
  FloatProperty* alpha_property_;
  StringProperty* tf_prefix_property_;
 
  std::map<std::string, RobotPtr> humans_;
 
 private:
  std::vector<std::string> ids_;
  ros::Subscriber idsSub_;  // Subscriber for the ids list
 
  void idsCallback(const hri_msgs::IdsListConstPtr& msg);
  void initializeRobot(std::map<std::string, RobotPtr>::iterator it);
};
  
}  // namespace rviz
 
#endif