positionstring_display.h
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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 #ifndef RVIZ_POSITION_STRING_DISPLAY_H_
00031 #define RVIZ_POSITION_STRING_DISPLAY_H_
00032 
00033 #include "rviz/display.h"
00034 #include "rviz/helpers/color.h"
00035 #include "rviz/properties/forwards.h"
00036 
00037 #include <boost/thread/mutex.hpp>
00038 
00039 #include <boost/shared_ptr.hpp>
00040 
00041 #include <position_string_msgs/PositionString.h>
00042 
00043 #include <message_filters/subscriber.h>
00044 #include <tf/message_filter.h>
00045 
00046 namespace ogre_tools
00047 {
00048 class MovableText;
00049 }
00050 
00051 namespace Ogre
00052 {
00053 class SceneNode;
00054 class ManualObject;
00055 }
00056 
00057 namespace position_string_rviz_plugin
00058 {
00059 
00064 class PositionStringDisplay : public rviz::Display
00065 {
00066 public:
00067   PositionStringDisplay(const std::string& name, rviz::VisualizationManager* manager);
00068 
00069   virtual ~PositionStringDisplay();
00070 
00071   void setTopic(const std::string& topic);
00072   const std::string& getTopic()
00073   {
00074     return (topic_);
00075   }
00076 
00077   void setColor(const rviz::Color& color);
00078   const rviz::Color& getColor()
00079   {
00080     return (color_);
00081   }
00082   
00083   void setCharacterHeight(const double & h);
00084   const double& getCharacterHeight()
00085   {
00086     return (character_height_);
00087   }
00088 
00089   // Overrides from Display
00090   virtual void targetFrameChanged();
00091   virtual void fixedFrameChanged();
00092   virtual void createProperties();
00093   virtual void update(float wall_dt, float ros_dt);
00094   virtual void reset();
00095 
00096 protected:
00097   void subscribe();
00098   void unsubscribe();
00099   void clear();
00100   void incomingMessage(const position_string_msgs::PositionString::ConstPtr& message);
00101   void processMessage(const position_string_msgs::PositionString::ConstPtr& message);
00102 
00103   // overrides from Display
00104   virtual void onEnable();
00105   virtual void onDisable();
00106 
00107   std::string topic_;
00108   rviz::Color color_;
00109   double character_height_;
00110   position_string_msgs::PositionString::ConstPtr current_message_;
00111   Ogre::SceneNode* scene_node_;
00112   Ogre::SceneNode* text_node_;
00113   Ogre::ManualObject* manual_object_;
00114   ogre_tools::MovableText* text_;
00115 
00116   message_filters::Subscriber<position_string_msgs::PositionString> sub_;
00117   tf::MessageFilter<position_string_msgs::PositionString> tf_filter_;
00118 
00119   rviz::DoublePropertyWPtr character_height_property_;
00120   rviz::ColorPropertyWPtr color_property_;
00121   rviz::ROSTopicStringPropertyWPtr topic_property_;
00122 };
00123 
00124 } // namespace position_string_rviz_plugin
00125 
00126 #endif /* RVIZ_POSITION_STRING_DISPLAY_H_ */
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position_string_rviz_plugin
Author(s): Nico Blodow
autogenerated on Thu May 23 2013 10:07:23