pose_with_covariance_display.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
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 */
 
#ifndef POSE_WITH_COVARIANCE_DISPLAY_H
#define POSE_WITH_COVARIANCE_DISPLAY_H
 
#include <boost/shared_ptr.hpp>
 
#include <geometry_msgs/PoseWithCovarianceStamped.h>
 
#include <rviz/message_filter_display.h>
#include <rviz/selection/forwards.h>
 
namespace rviz
{
class Arrow;
class Axes;
class ColorProperty;
class EnumProperty;
class FloatProperty;
class BoolProperty;
class Shape;
 
class CovarianceVisual;
class CovarianceProperty;
 
class PoseWithCovarianceDisplaySelectionHandler;
typedef boost::shared_ptr<PoseWithCovarianceDisplaySelectionHandler>
    PoseWithCovarianceDisplaySelectionHandlerPtr;
 
class PoseWithCovarianceDisplay
  : public rviz::MessageFilterDisplay<geometry_msgs::PoseWithCovarianceStamped>
{
  Q_OBJECT
public:
  enum Shape
  {
    Arrow,
    Axes,
  };
 
  PoseWithCovarianceDisplay();
  ~PoseWithCovarianceDisplay() override;
 
  void onInitialize() override;
  void reset() override;
 
protected:
  void onEnable() override;
 
private Q_SLOTS:
  void updateShapeVisibility();
  void updateColorAndAlpha();
  void updateShapeChoice();
  void updateAxisGeometry();
  void updateArrowGeometry();
 
private:
  void clear();
 
  void processMessage(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& message) override;
 
  rviz::Arrow* arrow_;
  rviz::Axes* axes_;
  boost::shared_ptr<CovarianceVisual> covariance_;
  bool pose_valid_;
  PoseWithCovarianceDisplaySelectionHandlerPtr coll_handler_;
 
  rviz::EnumProperty* shape_property_;
 
  rviz::ColorProperty* color_property_;
  rviz::FloatProperty* alpha_property_;
 
  rviz::FloatProperty* head_radius_property_;
  rviz::FloatProperty* head_length_property_;
  rviz::FloatProperty* shaft_radius_property_;
  rviz::FloatProperty* shaft_length_property_;
 
  rviz::FloatProperty* axes_length_property_;
  rviz::FloatProperty* axes_radius_property_;
 
  CovarianceProperty* covariance_property_;
 
  friend class PoseWithCovarianceDisplaySelectionHandler;
};
 
} // namespace rviz
 
#endif // POSE_WITH_COVARIANCE_DISPLAY_H