Program Listing for File frame_info.hpp
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/*
* Copyright (c) 2012, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* 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
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__TF__FRAME_INFO_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__TF__FRAME_INFO_HPP_
#include <string>
#include "tf2/time.h"
#include "rviz_default_plugins/displays/tf/tf_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_common
{
namespace properties
{
class Property;
class BoolProperty;
class StringProperty;
class VectorProperty;
class QuaternionProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC FrameInfo : public QObject
{
Q_OBJECT
public:
explicit FrameInfo(TFDisplay * display);
static const Ogre::ColourValue ARROW_HEAD_COLOR;
static const Ogre::ColourValue ARROW_SHAFT_COLOR;
void setEnabled(bool enabled);
void updatePositionAndOrientation(
const Ogre::Vector3 & position, const Ogre::Quaternion & orientation, float scale);
void setVisible(bool show_frame);
void setNamesVisible(bool show_names);
void setAxesVisible(bool show_axes);
void setParentArrowVisible(bool show_parent_arrow);
void setLastUpdate(const tf2::TimePoint & latest_time);
void updateTreeProperty(rviz_common::properties::Property * parent);
void updateColorForAge(double age, double frame_timeout) const;
void updateParentArrow(
const Ogre::Vector3 & position,
const Ogre::Vector3 & parent_position,
float scale);
public Q_SLOTS:
void updateVisibilityFromFrame();
void updateVisibilityFromSelection();
public:
TFDisplay * display_;
std::string name_;
std::string parent_;
rviz_rendering::Axes * axes_;
rviz_common::interaction::CollObjectHandle axes_coll_;
FrameSelectionHandlerPtr selection_handler_;
rviz_rendering::Arrow * parent_arrow_;
rviz_rendering::MovableText * name_text_;
Ogre::SceneNode * name_node_;
float distance_to_parent_;
Ogre::Quaternion arrow_orientation_;
tf2::TimePoint last_update_;
tf2::TimePoint last_time_to_fixed_;
rviz_common::properties::VectorProperty * rel_position_property_;
rviz_common::properties::QuaternionProperty * rel_orientation_property_;
rviz_common::properties::VectorProperty * position_property_;
rviz_common::properties::QuaternionProperty * orientation_property_;
rviz_common::properties::StringProperty * parent_property_;
rviz_common::properties::BoolProperty * enabled_property_;
rviz_common::properties::Property * tree_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__TF__FRAME_INFO_HPP_