Program Listing for File mapped_covariance_property.hpp

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#ifndef FUSE_VIZ__MAPPED_COVARIANCE_PROPERTY_HPP_
#define FUSE_VIZ__MAPPED_COVARIANCE_PROPERTY_HPP_

#include <OgreColourValue.h>
#include <QColor>

#include <memory>
#include <string>
#include <unordered_map>

#include <fuse_viz/mapped_covariance_visual.hpp>

#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/enum_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/property.hpp>


namespace Ogre
{

class SceneManager;
class SceneNode;

}  // namespace Ogre

namespace fuse_viz
{
class MappedCovarianceProperty : public rviz_common::properties::BoolProperty
{
  Q_OBJECT

public:
  typedef std::shared_ptr<MappedCovarianceVisual> MappedCovarianceVisualPtr;

  enum Frame
  {
    Local,
    Fixed,
  };

  enum ColorStyle
  {
    Unique,
    RGB,
  };

  MappedCovarianceProperty(
    const QString & name = "Covariance", bool default_value = false,
    const QString & description = QString(), rviz_common::properties::Property * parent = 0,
    const char * changed_slot = 0, QObject * receiver = 0);

  virtual ~MappedCovarianceProperty();

  bool getPositionBool();
  bool getOrientationBool();

  // Methods to manage the unordered map of Covariance Visuals
  MappedCovarianceVisualPtr createAndInsertVisual(
    const std::string & key, Ogre::SceneManager * scene_manager,
    Ogre::SceneNode * parent_node);
  void eraseVisual(const std::string & key);
  void clearVisual();
  size_t sizeVisual();

public Q_SLOTS:
  void updateVisibility();

private Q_SLOTS:
  void updateColorAndAlphaAndScaleAndOffset();
  void updateOrientationFrame();
  void updateColorStyleChoice();

private:
  void updateColorAndAlphaAndScaleAndOffset(const MappedCovarianceVisualPtr & visual);
  void updateOrientationFrame(const MappedCovarianceVisualPtr & visual);
  void updateVisibility(const MappedCovarianceVisualPtr & visual);

  std::unordered_map<std::string, MappedCovarianceVisualPtr> covariances_;

  rviz_common::properties::BoolProperty * position_property_;
  rviz_common::properties::ColorProperty * position_color_property_;
  rviz_common::properties::FloatProperty * position_alpha_property_;
  rviz_common::properties::FloatProperty * position_scale_property_;
  rviz_common::properties::BoolProperty * orientation_property_;
  rviz_common::properties::EnumProperty * orientation_frame_property_;
  rviz_common::properties::EnumProperty * orientation_colorstyle_property_;
  rviz_common::properties::ColorProperty * orientation_color_property_;
  rviz_common::properties::FloatProperty * orientation_alpha_property_;
  rviz_common::properties::FloatProperty * orientation_offset_property_;
  rviz_common::properties::FloatProperty * orientation_scale_property_;
};

}  // namespace fuse_viz

#endif  // FUSE_VIZ__MAPPED_COVARIANCE_PROPERTY_HPP_