hri_tf.h

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/*
 * Copyright (c) 2022, PAL Robotics S.L.
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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. 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef RVIZ_TF_DISPLAY_H
#define RVIZ_TF_DISPLAY_H
 
#include <map>
#include <set>
 
#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreVector3.h>
 
#include <rviz/selection/forwards.h>
 
#include <rviz/display.h>
 
#include "hri/hri.h"
#include "ros/ros.h"
 
namespace Ogre
{
class SceneNode;
}
 
namespace rviz
{
class Arrow;
class Axes;
class BoolProperty;
class FloatProperty;
class MovableText;
class QuaternionProperty;
class StringProperty;
class VectorProperty;
 
class FrameInfo;
class FrameSelectionHandler;
typedef boost::shared_ptr<FrameSelectionHandler> FrameSelectionHandlerPtr;
 
class HRITFDisplay : public Display
{
  Q_OBJECT
public:
  HRITFDisplay();
  ~HRITFDisplay() override;
 
  void update(float wall_dt, float ros_dt) override;
 
protected:
  // Overrides from Display
  void onInitialize() override;
  void load(const Config& config) override;
  void fixedFrameChanged() override;
  void reset() override;
 
private Q_SLOTS:
  void updateShowAxes();
  void updateShowArrows();
  void updateShowNames();
  void updateShowFaces();
  void updateShowGazes();
  void updateshowSkeletons();
  void allEnabledChanged();
 
private:
  typedef std::map<std::string, FrameInfo*> M_FrameInfo;
 
  void updateFrames();
  FrameInfo* createFrame(const std::string& frame);
  void updateFrame(FrameInfo* frame);
  M_FrameInfo::iterator deleteFrame(M_FrameInfo::iterator it, bool delete_properties);
 
  FrameInfo* getFrameInfo(const std::string& frame);
 
  void clear();
 
  // overrides from Display
  void onEnable() override;
  void onDisable() override;
 
  Ogre::SceneNode* root_node_;
  Ogre::SceneNode* names_node_;
  Ogre::SceneNode* arrows_node_;
  Ogre::SceneNode* axes_node_;
 
  M_FrameInfo frames_;
 
  typedef std::map<std::string, bool> M_EnabledState;
  M_EnabledState frame_config_enabled_state_;
 
  float update_timer_;
 
  BoolProperty* show_names_property_;
  BoolProperty* show_arrows_property_;
  BoolProperty* show_axes_property_;
  FloatProperty* update_rate_property_;
  FloatProperty* frame_timeout_property_;
  BoolProperty* all_enabled_property_;
 
  FloatProperty* scale_property_;
  FloatProperty* alpha_property_;
 
  BoolProperty* show_faces_property_;
  BoolProperty* show_gazes_property_;
  BoolProperty* show_skeletons_property_;
 
  Property* frames_category_;
  Property* tree_category_;
 
  bool changing_single_frame_enabled_state_;
  bool showFaces_;
  bool showGazes_;
  bool showSkeletons_;
 
  hri::HRIListener hri_listener_;
 
  std::vector<std::string> skeleton_components_;
 
  friend class FrameInfo;
};
 
class FrameInfo : public QObject
{
  Q_OBJECT
public:
  FrameInfo(HRITFDisplay* display);
 
  void setEnabled(bool enabled);
 
public Q_SLOTS:
  void updateVisibilityFromFrame();
 
  void updateVisibilityFromSelection();
 
public:
  HRITFDisplay* display_;
  std::string name_;
  std::string parent_;
  Axes* axes_;
  CollObjectHandle axes_coll_;
  FrameSelectionHandlerPtr selection_handler_;
  Arrow* parent_arrow_;
  MovableText* name_text_;
  Ogre::SceneNode* name_node_;
 
  float distance_to_parent_;
  Ogre::Quaternion arrow_orientation_;
 
  ros::Time last_update_;
  ros::Time last_time_to_fixed_;
 
  VectorProperty* rel_position_property_;
  QuaternionProperty* rel_orientation_property_;
  VectorProperty* position_property_;
  QuaternionProperty* orientation_property_;
  StringProperty* parent_property_;
  BoolProperty* enabled_property_;
 
  Property* tree_property_;
 
};
 
} // end namespace rviz
 
#endif // RVIZ_TF_DISPLAY_H