snow_display.h

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/*
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 *  Copyright (c) 2020, David Lu!!
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#ifndef SNOWBOT_OPERATING_SYSTEM_SNOW_DISPLAY_H
#define SNOWBOT_OPERATING_SYSTEM_SNOW_DISPLAY_H
 
#include <rviz/display.h>
#include <rviz/ogre_helpers/point_cloud.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/float_property.h>
#include <geometry_msgs/Point.h>
#include <vector>
 
namespace snowbot_operating_system
{
class SnowDisplay : public rviz::Display
{
  Q_OBJECT
public:
  SnowDisplay();
 
  void update(float wall_dt, float ros_dt) override;
 
protected:
  void onInitialize() override;
 
private Q_SLOTS:
  void updateSize();
  void updatePosition();
 
private:
  void letItSnow();
 
  void initializeXY(geometry_msgs::Point& pt) const;
 
  rviz::PointCloud* point_cloud_;
  std::vector<rviz::PointCloud::Point> flakes_;
 
  std::vector<geometry_msgs::Point> points_;
 
  rviz::FloatProperty* width_property_;
  rviz::FloatProperty* height_property_;
  rviz::FloatProperty* gravity_property_;
  rviz::FloatProperty* wind_property_;
  rviz::FloatProperty* jiggle_property_;
  rviz::IntProperty* size_property_;
 
  double width_, height_;
};
}  // namespace snowbot_operating_system
 
#endif  // SNOWBOT_OPERATING_SYSTEM_SNOW_DISPLAY_H