simple_occupancy_grid_array_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_SIMPLE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_SIMPLE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_
 
#ifndef Q_MOC_RUN
#include <jsk_recognition_msgs/SimpleOccupancyGridArray.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/ogre_helpers/shape.h>
#include <rviz/properties/color_property.h>
#include <rviz/ogre_helpers/point_cloud.h>
#endif
 
namespace jsk_rviz_plugins
{
  class SimpleOccupancyGridArrayDisplay:
    public rviz::MessageFilterDisplay<
    jsk_recognition_msgs::SimpleOccupancyGridArray>
  {
    Q_OBJECT
  public:
#if ROS_VERSION_MINIMUM(1,12,0)
    typedef std::shared_ptr<rviz::PointCloud> PointCloudPtr;
#else
    typedef boost::shared_ptr<rviz::PointCloud> PointCloudPtr;
#endif
    SimpleOccupancyGridArrayDisplay();
    virtual ~SimpleOccupancyGridArrayDisplay();
  protected:
    virtual void onInitialize();
    virtual void reset();
    virtual void allocateCloudsAndNodes(const size_t num);
    rviz::FloatProperty* alpha_property_;
    rviz::BoolProperty* auto_color_property_;
    double alpha_;
    std::vector<rviz::PointCloud*> clouds_;
    std::vector<Ogre::SceneNode*> nodes_;
    bool auto_color_;
  private:
    void processMessage(
      const jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr& msg);
  private Q_SLOTS:
    void updateAlpha();
    void updateAutoColor();
  };
 
}
 
#endif