robot_image_plugin.h

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// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
#define MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
 
// C++ standard libraries
#include <string>
 
#include <mapviz/mapviz_plugin.h>
 
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
 
// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
 
#include <mapviz/map_canvas.h>
 
// QT autogenerated files
#include "ui_robot_image_config.h"
#include "ui_topic_select.h"
 
namespace mapviz_plugins
{
  class RobotImagePlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
  public:
    RobotImagePlugin();
    virtual ~RobotImagePlugin();
 
    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 SelectFile();
    void SelectFrame();
    void FrameEdited();
    void ImageEdited();
    void WidthChanged(double value);
    void HeightChanged(double value);
    void OffsetXChanged(double value);
    void OffsetYChanged(double value);
    void RatioEqualToggled(bool toggled);
    void RatioCustomToggled(bool toggled);
    void RatioOriginalToggled(bool toggled);
 
  private:
    Ui::robot_image_config ui_;
    QWidget* config_widget_;
 
    double width_; //image width, if robot frame is x-forward this corresponds to robot length
    double height_; //image height, corresponds to robot width
    double offset_x_; //offset of image center from robot frame along x axis
    double offset_y_; //offset of image center from robot frame along y axis
    double image_ratio_;
 
    std::string filename_;
    QImage      image_;
    int dimension_;
    int texture_id_;
    bool texture_loaded_;
 
    bool transformed_;
 
    tf::Point top_left_;
    tf::Point top_right_;
    tf::Point bottom_left_;
    tf::Point bottom_right_;
 
    tf::Point top_left_transformed_;
    tf::Point top_right_transformed_;
    tf::Point bottom_left_transformed_;
    tf::Point bottom_right_transformed_;
 
    void UpdateShape();
    void LoadImage();
  };
}
 
#endif  // MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_