occupancy_grid_plugin.h

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#ifndef MAPVIZ_PLUGINS_GRID_PLUGIN_H_
#define MAPVIZ_PLUGINS_GRID_PLUGIN_H_
 
// C++ standard libraries
#include <string>
#include <list>
 
#include <mapviz/mapviz_plugin.h>
 
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
#include <QTimer>
 
// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
 
#include <mapviz/map_canvas.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
 
// QT autogenerated files
#include "ui_occupancy_grid_config.h"
 
namespace mapviz_plugins
{
  class OccupancyGridPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
    typedef std::array<uchar, 256*4> Palette;
 
  public:
    OccupancyGridPlugin();
    virtual ~OccupancyGridPlugin();
 
    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);
 
  protected Q_SLOTS:
 
    void SelectTopicGrid();
    void TopicGridEdited();
    void upgradeCheckBoxToggled(bool);
    void colorSchemeUpdated(const QString &);
 
    void DrawIcon();
 
    void FrameChanged(std::string);
 
  private:
    Ui::occupancy_grid_config ui_;
    QWidget* config_widget_;
 
    nav_msgs::OccupancyGridConstPtr grid_;
 
    ros::Subscriber grid_sub_;
    ros::Subscriber update_sub_;
 
    bool transformed_;
    swri_transform_util::Transform transform_;
 
    GLuint texture_id_;
    
    QPointF map_origin_;
    float texture_x_, texture_y_;
    std::vector<uchar> raw_buffer_;
    std::vector<uchar> color_buffer_;
    int32_t texture_size_;
 
    Palette map_palette_;
    Palette costmap_palette_;
 
    void Callback(const nav_msgs::OccupancyGridConstPtr& msg);
    void CallbackUpdate(const map_msgs::OccupancyGridUpdateConstPtr& msg);
    void updateTexture();
 
  };
}
 
#endif  // MAPVIZ_PLUGINS_GRID_PLUGIN_H_