positionstring_display.cpp
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00001 /* 
00002  * Copyright (c) 2010, Nico Blodow (blodow@cs.tum.edu)
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "positionstring_display.h"
00031 #include "rviz/visualization_manager.h"
00032 #include "rviz/properties/property.h"
00033 #include "rviz/properties/property_manager.h"
00034 #include "rviz/common.h"
00035 
00036 #include <tf/transform_listener.h>
00037 
00038 #include <boost/bind.hpp>
00039 
00040 #include <OGRE/OgreSceneNode.h>
00041 #include <OGRE/OgreSceneManager.h>
00042 #include <OGRE/OgreManualObject.h>
00043 #include <OGRE/OgreBillboardSet.h>
00044 
00045 #include <ogre_tools/movable_text.h>
00046 
00047 namespace position_string_rviz_plugin
00048 {
00049 
00050 PositionStringDisplay::PositionStringDisplay(const std::string & name, rviz::VisualizationManager * manager)
00051 : Display(name, manager)
00052 , color_(0.1f, 1.0f, 0.0f)
00053 , character_height_(0.1)
00054 , tf_filter_(*manager->getTFClient(), "", 2, update_nh_)
00055 {
00056   scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
00057 
00058   static int count = 0;
00059   std::stringstream ss;
00060   ss << "PositionString " << count++;
00061 
00062   text_ = new ogre_tools::MovableText("positionstring", "Arial", character_height_, Ogre::ColourValue::White);
00063   text_->showOnTop (true);
00064   scene_node_->attachObject(text_);
00065 
00066   tf_filter_.connectInput(sub_);
00067   tf_filter_.registerCallback(boost::bind(&PositionStringDisplay::incomingMessage, this, _1));
00068 }
00069 
00070 PositionStringDisplay::~PositionStringDisplay()
00071 {
00072   unsubscribe();
00073 
00074   delete text_;
00075 }
00076 
00077 
00078 void PositionStringDisplay::setTopic(const std::string & topic)
00079 {
00080   unsubscribe();
00081   topic_ = topic;
00082   subscribe();
00083 
00084   propertyChanged(topic_property_);
00085 
00086   causeRender();
00087 }
00088 
00089 void PositionStringDisplay::setColor(const rviz::Color & color)
00090 {
00091   color_ = color;
00092 
00093   propertyChanged(color_property_);
00094   processMessage(current_message_);
00095   causeRender();
00096 }
00097 
00098 void PositionStringDisplay::setCharacterHeight(const double & h)
00099 {
00100   character_height_ = h;
00101 
00102   propertyChanged(character_height_property_);
00103   processMessage(current_message_);
00104   causeRender();
00105 }
00106 
00107 void PositionStringDisplay::subscribe()
00108 {
00109   if (!isEnabled())
00110     return;
00111 
00112   if (!topic_.empty())
00113   {
00114     sub_.subscribe(update_nh_, topic_, 1);
00115   }
00116 }
00117 
00118 void PositionStringDisplay::unsubscribe()
00119 {
00120   sub_.unsubscribe();
00121 }
00122 
00123 void PositionStringDisplay::onEnable()
00124 {
00125   scene_node_->setVisible(true);
00126   subscribe();
00127 }
00128 
00129 void PositionStringDisplay::onDisable()
00130 {
00131   unsubscribe();
00132   scene_node_->setVisible(false);
00133 }
00134 
00135 void PositionStringDisplay::fixedFrameChanged()
00136 {
00137   tf_filter_.setTargetFrame(fixed_frame_);
00138 }
00139 
00140 void PositionStringDisplay::update(float wall_dt, float ros_dt)
00141 {
00142 }
00143 
00144 void PositionStringDisplay::processMessage(const position_string_msgs::PositionString::ConstPtr& msg)
00145 {
00146   if (!msg)
00147   {
00148     return;
00149   }
00150   
00151   text_->setCaption (msg->text);
00152   text_->setCharacterHeight (character_height_);
00153   text_->setColor (Ogre::ColourValue(color_.r_, color_.g_, color_.b_));
00154 
00155   tf::Stamped<tf::Pose> pose(btTransform(btQuaternion(1.0f, 0.0f, 0.0f, 0.0f),
00156       btVector3(msg->pose.x, msg->pose.y, msg->pose.z)), msg->header.stamp,
00157       msg->header.frame_id);
00158 
00159   try
00160   {
00161     vis_manager_->getTFClient()->transformPose(fixed_frame_, pose, pose);
00162   }
00163   catch (tf::TransformException & e)
00164   {
00165     ROS_ERROR("Error transforming from frame '%s' to frame '%s'",
00166         msg->header.frame_id.c_str(), fixed_frame_.c_str());
00167   }
00168 
00169   Ogre::Vector3 position = Ogre::Vector3(pose.getOrigin().x(),
00170       pose.getOrigin().y(), pose.getOrigin().z());
00171 
00172   rviz::robotToOgre(position);
00173 
00174   scene_node_->setPosition(position);
00175 }
00176 
00177 void PositionStringDisplay::incomingMessage(const position_string_msgs::PositionString::ConstPtr& message)
00178 {
00179   current_message_ = message;
00180   processMessage(message);
00181 }
00182 
00183 void PositionStringDisplay::reset()
00184 {
00185 }
00186 
00187 void PositionStringDisplay::targetFrameChanged()
00188 {
00189 }
00190 
00191 void PositionStringDisplay::createProperties()
00192 {
00193   character_height_property_ = property_manager_->createProperty<rviz::DoubleProperty> ("Character Height", property_prefix_, boost::bind(&PositionStringDisplay::getCharacterHeight, this),
00194                                                                             boost::bind(&PositionStringDisplay::setCharacterHeight, this, _1), parent_category_, this);
00195   color_property_ = property_manager_->createProperty<rviz::ColorProperty> ("Color", property_prefix_, boost::bind(&PositionStringDisplay::getColor, this),
00196                                                                             boost::bind(&PositionStringDisplay::setColor, this, _1), parent_category_, this);
00197   topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty> ("Topic", property_prefix_, boost::bind(&PositionStringDisplay::getTopic, this),
00198                                                                                boost::bind(&PositionStringDisplay::setTopic, this, _1), parent_category_, this);
00199   rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
00200   topic_prop->setMessageType(ros::message_traits::DataType<position_string_msgs::PositionString>().value());
00201 }
00202 
00203 } // namespace position_string_rviz_plugin 
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position_string_rviz_plugin
Author(s): Nico Blodow
autogenerated on Thu May 23 2013 10:07:23