range_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 RANGE_DISPLAY_H
00032 #define RANGE_DISPLAY_H
00033 
00034 #include "rviz/display.h"
00035 #include "rviz/helpers/color.h"
00036 #include "rviz/properties/forwards.h"
00037 
00038 #include <sensor_msgs/Range.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 Shape;
00048 }
00049 
00050 
00051 namespace Ogre
00052 {
00053 class SceneNode;
00054 }
00055 
00056 namespace rviz
00057 {
00058 
00063 class RangeDisplay : public rviz::Display
00064 {
00065 public:
00066   RangeDisplay();
00067   virtual ~RangeDisplay();
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 rviz::Color& color );
00075   const rviz::Color& getColor() { return color_; }
00076 
00077   void setBuffer( int buffer );
00078   int getBuffer() { return buffer_len_; }
00079 
00080   void setAlpha( float alpha );
00081   float getAlpha() { return alpha_; }
00082 
00083   // Overrides from Display
00084   virtual void fixedFrameChanged();
00085   virtual void createProperties();
00086   virtual void update(float wall_dt, float ros_dt);
00087   virtual void reset();
00088 
00089   static const char* getTypeStatic() { return "Range"; }
00090   virtual const char* getType() const { return getTypeStatic(); }
00091   static const char* getDescription();
00092 
00093 protected:
00094   void subscribe();
00095   void unsubscribe();
00096   void clear();
00097   void incomingMessage(const sensor_msgs::Range::ConstPtr& msg);
00098   void processMessage(const sensor_msgs::Range::ConstPtr& msg);
00099 
00100   // overrides from Display
00101   virtual void onEnable();
00102   virtual void onDisable();
00103 
00104   std::string topic_;
00105   rviz::Color color_;
00106   float alpha_;
00107   int buffer_len_;
00108 
00109   uint32_t messages_received_;
00110 
00111   Ogre::SceneNode* scene_node_;
00112   std::vector<Shape* > cones_;      
00113 
00114   message_filters::Subscriber<sensor_msgs::Range> sub_;
00115   tf::MessageFilter<sensor_msgs::Range>* tf_filter_;
00116   sensor_msgs::Range::ConstPtr current_message_;
00117 
00118   rviz::ColorPropertyWPtr color_property_;
00119   rviz::ROSTopicStringPropertyWPtr topic_property_;
00120   rviz::FloatPropertyWPtr alpha_property_;
00121   rviz::IntPropertyWPtr bufferLen_property_;
00122 };
00123 
00124 } // namespace range_plugin
00125 
00126 #endif /* RANGE_DISPLAY_H */
00127 


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