draw_polygon_plugin.h

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#ifndef MAPVIZ_PLUGINS_DRAW_POLYGON_PLUGIN_H_
#define MAPVIZ_PLUGINS_DRAW_POLYGON_PLUGIN_H_
 
// C++ standard libraries
#include <string>
#include <vector>
 
#include <mapviz/mapviz_plugin.h>
 
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
 
// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
 
// Mapviz libraries
#include <mapviz/map_canvas.h>
 
// Messages
#include <geometry_msgs/Polygon.h>
 
// QT autogenerated files
#include "ui_draw_polygon_config.h"
 
namespace mapviz_plugins
{
  class DrawPolygonPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
   public:
 
    DrawPolygonPlugin();
    virtual ~DrawPolygonPlugin();
 
    bool Initialize(QGLWidget* canvas);
    void Shutdown()
    {
    }
 
    void Draw(double x, double y, double scale);
 
    void Transform() {};
 
    void LoadConfig(const YAML::Node& node, const std::string& path);
    void SaveConfig(YAML::Emitter& emitter, const std::string& path);
 
    QWidget* GetConfigWidget(QWidget* parent);
 
   protected:
    void PrintError(const std::string& message);
    void PrintInfo(const std::string& message);
    void PrintWarning(const std::string& message);
    bool eventFilter(QObject *object, QEvent* event);
    bool handleMousePress(QMouseEvent *);
    bool handleMouseRelease(QMouseEvent *);
    bool handleMouseMove(QMouseEvent *);
 
   protected Q_SLOTS:
    void PublishPolygon();
    void Clear();
    void SelectFrame();
    void FrameEdited();
 
   private:
    Ui::draw_polygon_config ui_;
    QWidget* config_widget_;
    mapviz::MapCanvas* map_canvas_;
 
    std::string polygon_topic_;
    ros::Publisher polygon_pub_;
 
    std::vector<tf::Vector3> vertices_;
    std::vector<tf::Vector3> transformed_vertices_;
 
    int selected_point_;
    bool is_mouse_down_;
    QPointF mouse_down_pos_;
    qint64 mouse_down_time_;
 
    qint64 max_ms_;
    qreal max_distance_;
  };
}
 
#endif  // MAPVIZ_PLUGINS_DRAW_POLYGON_PLUGIN_H_