covariance_property.h

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/*
 * Copyright (c) 2017, Ellon Paiva Mendes @ LAAS-CNRS
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */
 
#ifndef COVARIANCE_PROPERTY_H
#define COVARIANCE_PROPERTY_H
 
#include <deque>
 
#include <QColor>
 
#include <OgreColourValue.h>
 
#include <rviz/properties/bool_property.h>
 
namespace Ogre
{
class SceneManager;
class SceneNode;
} // namespace Ogre
 
namespace rviz
{
class Property;
class ColorProperty;
class FloatProperty;
class EnumProperty;
class CovarianceVisual;
 
class CovarianceProperty : public rviz::BoolProperty
{
  Q_OBJECT
public:
  typedef boost::shared_ptr<CovarianceVisual> CovarianceVisualPtr;
 
  enum Frame
  {
    Local,
    Fixed,
  };
 
  enum ColorStyle
  {
    Unique,
    RGB,
  };
 
  CovarianceProperty(const QString& name = "Covariance",
                     bool default_value = false,
                     const QString& description = QString(),
                     rviz::Property* parent = nullptr);
 
  template <typename Func, typename R>
  CovarianceProperty(const QString& name,
                     bool default_value,
                     const QString& description,
                     rviz::Property* parent,
                     Func&& changed_slot,
                     const R* receiver)
    : CovarianceProperty(name, default_value, description, parent)
  {
    connect(receiver, std::forward<Func>(changed_slot));
  }
 
  // this variant is required to allow omitting the receiver argument
  template <typename Func, typename P>
  CovarianceProperty(const QString& name,
                     bool default_value,
                     const QString& description,
                     P* parent,
                     Func&& changed_slot)
    : CovarianceProperty(name, default_value, description, parent)
  {
    connect(parent, std::forward<Func>(changed_slot));
  }
 
  ~CovarianceProperty() override;
 
  bool getPositionBool();
  bool getOrientationBool();
 
  // Methods to manage the deque of Covariance Visuals
  CovarianceVisualPtr createAndPushBackVisual(Ogre::SceneManager* scene_manager,
                                              Ogre::SceneNode* parent_node);
  void popFrontVisual();
  void clearVisual();
  size_t sizeVisual();
 
public Q_SLOTS:
  void updateVisibility();
 
private Q_SLOTS:
  void updateColorAndAlphaAndScaleAndOffset();
  void updateOrientationFrame();
  void updateColorStyleChoice();
 
private:
  void updateColorAndAlphaAndScaleAndOffset(const CovarianceVisualPtr& visual);
  void updateOrientationFrame(const CovarianceVisualPtr& visual);
  void updateVisibility(const CovarianceVisualPtr& visual);
 
  typedef std::deque<CovarianceVisualPtr> D_Covariance;
  D_Covariance covariances_;
 
  rviz::BoolProperty* position_property_;
  rviz::ColorProperty* position_color_property_;
  rviz::FloatProperty* position_alpha_property_;
  rviz::FloatProperty* position_scale_property_;
  rviz::BoolProperty* orientation_property_;
  rviz::EnumProperty* orientation_frame_property_;
  rviz::EnumProperty* orientation_colorstyle_property_;
  rviz::ColorProperty* orientation_color_property_;
  rviz::FloatProperty* orientation_alpha_property_;
  rviz::FloatProperty* orientation_offset_property_;
  rviz::FloatProperty* orientation_scale_property_;
};
 
} // end namespace rviz
 
#endif // COVARIANCE_PROPERTY_H