laser_scan_display.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
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 the 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_LASER_SCAN_DISPLAY_H
00031 #define RVIZ_LASER_SCAN_DISPLAY_H
00032 
00033 #include "point_cloud_base.h"
00034 #include "rviz/helpers/color.h"
00035 #include "rviz/properties/forwards.h"
00036 
00037 #include "rviz/ogre_helpers/point_cloud.h"
00038 
00039 #include "sensor_msgs/LaserScan.h"
00040 
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/thread.hpp>
00043 
00044 #include <message_filters/subscriber.h>
00045 #include <tf/message_filter.h>
00046 
00047 #include <deque>
00048 #include <queue>
00049 #include <vector>
00050 
00051 namespace laser_geometry
00052 {
00053 class LaserProjection;
00054 }
00055 
00056 namespace rviz
00057 {
00058 
00063 class LaserScanDisplay : public PointCloudBase
00064 {
00065 public:
00066   LaserScanDisplay();
00067   ~LaserScanDisplay();
00068 
00069   virtual void onInitialize();
00070 
00071   // Overrides from Display
00072   virtual void createProperties();
00073   virtual void fixedFrameChanged();
00074 
00079   void setTopic( const std::string& topic );
00080   const std::string& getTopic() { return topic_; }
00081 
00083   void setQueueSize( int size );
00084   int getQueueSize();
00085 
00086 protected:
00087   virtual void onEnable();
00088   virtual void onDisable();
00089 
00093   void subscribe();
00097   void unsubscribe();
00098 
00102   void incomingScanCallback(const sensor_msgs::LaserScan::ConstPtr& scan);
00103 
00104   std::string topic_;                         
00105   message_filters::Subscriber<sensor_msgs::LaserScan> sub_;
00106   tf::MessageFilter<sensor_msgs::LaserScan>* tf_filter_;
00107 
00108   ROSTopicStringPropertyWPtr topic_property_;
00109 
00110   laser_geometry::LaserProjection* projector_;
00111 
00112   ros::Duration filter_tolerance_;
00113   IntPropertyWPtr queue_size_property_;
00114 };
00115 
00116 } // namespace rviz
00117 
00118 #endif


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32