polygon_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 
00031 #ifndef RVIZ_POLYGON_DISPLAY_H
00032 #define RVIZ_POLYGON_DISPLAY_H
00033 
00034 #include "rviz/display.h"
00035 #include "rviz/helpers/color.h"
00036 #include "rviz/properties/forwards.h"
00037 
00038 #include <geometry_msgs/PolygonStamped.h>
00039 
00040 #include <message_filters/subscriber.h>
00041 #include <tf/message_filter.h>
00042 
00043 #include <boost/shared_ptr.hpp>
00044 
00045 namespace rviz
00046 {
00047 class PointCloud;
00048 }
00049 
00050 namespace Ogre
00051 {
00052 class SceneNode;
00053 class ManualObject;
00054 }
00055 
00056 namespace rviz
00057 {
00058 
00063 class PolygonDisplay : public Display
00064 {
00065 public:
00066   PolygonDisplay();
00067   virtual ~PolygonDisplay();
00068 
00069   virtual void onInitialize();
00070 
00071   void setTopic( const std::string& topic );
00072   const std::string& getTopic() { return topic_; }
00073 
00074   void setColor( const Color& color );
00075   const Color& getColor() { return color_; }
00076 
00077   void setAlpha( float alpha );
00078   float getAlpha() { return alpha_; }
00079 
00080   // Overrides from Display
00081   virtual void fixedFrameChanged();
00082   virtual void createProperties();
00083   virtual void update(float wall_dt, float ros_dt);
00084   virtual void reset();
00085 
00086   static const char* getTypeStatic() { return "Polygon"; }
00087   virtual const char* getType() const { return getTypeStatic(); }
00088   static const char* getDescription();
00089 
00090 protected:
00091   void subscribe();
00092   void unsubscribe();
00093   void clear();
00094   void incomingMessage(const geometry_msgs::PolygonStamped::ConstPtr& msg);
00095   void processMessage(const geometry_msgs::PolygonStamped::ConstPtr& msg);
00096 
00097   // overrides from Display
00098   virtual void onEnable();
00099   virtual void onDisable();
00100 
00101   std::string topic_;
00102   Color color_;
00103   float alpha_;
00104 
00105   uint32_t messages_received_;
00106 
00107   Ogre::SceneNode* scene_node_;
00108   Ogre::ManualObject* manual_object_;
00109 
00110   message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_;
00111   tf::MessageFilter<geometry_msgs::PolygonStamped>* tf_filter_;
00112   geometry_msgs::PolygonStamped::ConstPtr current_message_;
00113 
00114   ColorPropertyWPtr color_property_;
00115   ROSTopicStringPropertyWPtr topic_property_;
00116   FloatPropertyWPtr alpha_property_;
00117 };
00118 
00119 } // namespace rviz
00120 
00121 #endif /* RVIZ_POLYGON_DISPLAY_H */
00122 


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