odometry_display.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RVIZ_ODOMETRY_DISPLAY_H_
#define RVIZ_ODOMETRY_DISPLAY_H_

#include "rviz/display.h"
#include "rviz/helpers/color.h"
#include "rviz/properties/forwards.h"

#include <nav_msgs/Odometry.h>

#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

#include <message_filters/subscriber.h>
#include <tf/message_filter.h>

#include <deque>

namespace rviz
{
class Arrow;
}

namespace Ogre
{
class SceneNode;
}

namespace rviz
{

class OdometryDisplay : public Display
{
public:
  OdometryDisplay();
  virtual ~OdometryDisplay();

  virtual void onInitialize();

  void setTopic( const std::string& topic );
  const std::string& getTopic() { return topic_; }

  void setColor( const Color& color );
  const Color& getColor() { return color_; }

  void setLength( float length );
  float getLength() const { return length_; }

  void setPositionTolerance( float tol );
  float getPositionTolerance() { return position_tolerance_; }

  void setAngleTolerance( float tol );
  float getAngleTolerance() { return angle_tolerance_; }

  void setKeep(uint32_t keep);
  uint32_t getKeep() { return keep_; }

  // Overrides from Display
  virtual void fixedFrameChanged();
  virtual void createProperties();
  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

protected:
  void subscribe();
  void unsubscribe();
  void clear();

  void incomingMessage( const nav_msgs::Odometry::ConstPtr& message );
  void processMessage( const nav_msgs::Odometry::ConstPtr& message );
  void transformArrow( const nav_msgs::Odometry::ConstPtr& message, Arrow* arrow );

  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  std::string topic_;
  Color color_;
  uint32_t keep_;
  float length_; // Length of each arrow, in meters.

  typedef std::deque<Arrow*> D_Arrow;
  D_Arrow arrows_;

  Ogre::SceneNode* scene_node_;

  float position_tolerance_;
  float angle_tolerance_;

  uint32_t messages_received_;

  nav_msgs::Odometry::ConstPtr last_used_message_;
  message_filters::Subscriber<nav_msgs::Odometry> sub_;
  tf::MessageFilter<nav_msgs::Odometry>* tf_filter_;

  ColorPropertyWPtr color_property_;
  ROSTopicStringPropertyWPtr topic_property_;
  FloatPropertyWPtr position_tolerance_property_;
  FloatPropertyWPtr angle_tolerance_property_;
  IntPropertyWPtr keep_property_;
  FloatPropertyWPtr length_property_;
};

} // namespace rviz

#endif /* RVIZ_ODOMETRY_DISPLAY_H_ */