laserscan_plugin.h

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// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ_PLUGINS_LASERSCAN_PLUGIN_H_
#define MAPVIZ_PLUGINS_LASERSCAN_PLUGIN_H_
 
// C++ standard libraries
#include <string>
#include <deque>
#include <vector>
 
#include <mapviz/mapviz_plugin.h>
 
// QT libraries
#include <QGLWidget>
#include <QColor>
 
// ROS libraries
#include <sensor_msgs/LaserScan.h>
 
// QT autogenerated files
#include "ui_laserscan_config.h"
 
namespace mapviz_plugins
{
  class LaserScanPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
    public:
      enum
      {
        COLOR_FLAT = 0,
        COLOR_INTENSITY = 1,
        COLOR_RANGE = 2,
        COLOR_X = 3,
        COLOR_Y = 4,
        COLOR_Z = 5
      };
      LaserScanPlugin();
      virtual ~LaserScanPlugin();
 
      bool Initialize(QGLWidget* canvas);
      void Shutdown()
      {
      }
 
      void ClearHistory();
 
      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);
 
    protected Q_SLOTS:
      void SelectTopic();
      void TopicEdited();
      void AlphaEdited(double val);
      void ColorTransformerChanged(int index);
      void MinValueChanged(double value);
      void MaxValueChanged(double value);
      void PointSizeChanged(int value);
      void BufferSizeChanged(int value);
      void UseRainbowChanged(int check_state);
      void UpdateColors();    
      void DrawIcon();
      void ResetTransformedScans();
 
    private:
      struct StampedPoint
      {
        tf::Point point;
        tf::Point transformed_point;
        QColor color;
        float range;
        float intensity;
      };
 
      struct Scan
      {
        ros::Time stamp;
        QColor color;
        std::vector<StampedPoint> points;
        std::string source_frame_;
        bool transformed;
        bool has_intensity;
      };
 
      void laserScanCallback(const sensor_msgs::LaserScanConstPtr& scan);
      QColor CalculateColor(const StampedPoint& point, bool has_intensity);
      void updatePreComputedTriginometic(const sensor_msgs::LaserScanConstPtr& msg);
 
      Ui::laserscan_config ui_;
      QWidget* config_widget_;
 
      std::string topic_;
      double alpha_;
      double min_value_;
      double max_value_;
      size_t point_size_;
      size_t buffer_size_;
 
      bool has_message_;
 
      // Use a list instead of a deque for scans to facilitate removing
      // timed-out scans in the middle of the list in case I ever re-implement
      // decay time (evenator)
      std::deque<Scan> scans_;
      ros::Subscriber laserscan_sub_;
      std::vector<double> precomputed_cos_;
      std::vector<double> precomputed_sin_;
      size_t prev_ranges_size_;
      float  prev_angle_min_;
      float  prev_increment_;
      bool GetScanTransform(const Scan &scan, swri_transform_util::Transform& transform);
  };
}
 
#endif  // MAPVIZ_PLUGINS_LASERSCAN_PLUGIN_H_