vector3_display.h
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00001 /*
00002  * Copyright (c) 2012, 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 HECTOR_RVIZ_PLUGINS_VECTOR3_DISPLAY_H
00031 #define HECTOR_RVIZ_PLUGINS_VECTOR3_DISPLAY_H
00032 
00033 #include <boost/shared_ptr.hpp>
00034 #include <boost/thread/mutex.hpp>
00035 
00036 #ifndef Q_MOC_RUN
00037 #include <message_filters/subscriber.h>
00038 #include <tf/message_filter.h>
00039 #endif
00040 
00041 #include <geometry_msgs/Vector3Stamped.h>
00042 
00043 #include <rviz/display.h>
00044 
00045 namespace rviz
00046 {
00047 class Arrow;
00048 class ColorProperty;
00049 class FloatProperty;
00050 class StringProperty;
00051 class IntProperty;
00052 class RosTopicProperty;
00053 class TfFrameProperty;
00054 }
00055 
00056 namespace Ogre
00057 {
00058 class Vector3;
00059 class Quaternion;
00060 }
00061 
00062 namespace hector_rviz_plugins
00063 {
00064 
00065 using namespace rviz;
00066 
00067 class Vector3Display: public rviz::Display
00068 {
00069 Q_OBJECT
00070 public:
00071   Vector3Display();
00072   virtual ~Vector3Display();
00073 
00074   // Overrides from Display
00075   virtual void onInitialize();
00076   virtual void fixedFrameChanged();
00077   virtual void update( float wall_dt, float ros_dt );
00078   virtual void reset();
00079 
00080 protected:
00081   // overrides from Display
00082   virtual void onEnable();
00083   virtual void onDisable();
00084 
00085 private Q_SLOTS:
00086   void updateColor();
00087   void updateTopic();
00088   void updateOriginFrame();
00089   void updateScale();
00090   void updateLength();
00091 
00092 private:
00093   void subscribe();
00094   void unsubscribe();
00095   void clear();
00096 
00097   void incomingMessage( const geometry_msgs::Vector3Stamped::ConstPtr& message );
00098   void transformArrow( const geometry_msgs::Vector3Stamped::ConstPtr& message, Arrow* arrow );
00099 
00100   typedef std::deque<Arrow*> D_Arrow;
00101   D_Arrow arrows_;
00102 
00103   uint32_t messages_received_;
00104 
00105   boost::shared_ptr<Ogre::Vector3> last_position_;
00106   boost::shared_ptr<Ogre::Quaternion> last_orientation_;
00107   
00108   message_filters::Subscriber<geometry_msgs::Vector3Stamped> sub_;
00109   tf::MessageFilter<geometry_msgs::Vector3Stamped>* tf_filter_;
00110 
00111   ColorProperty* color_property_;
00112   RosTopicProperty* topic_property_;
00113   TfFrameProperty* origin_frame_property_;
00114   FloatProperty* scale_property_;
00115   FloatProperty* position_tolerance_property_;
00116   FloatProperty* angle_tolerance_property_;
00117   IntProperty* keep_property_;
00118 };
00119 
00120 } // end namespace hector_rviz_plugins
00121 
00122 #endif // HECTOR_RVIZ_PLUGINS_VECTOR3_DISPLAY_H


hector_rviz_plugins
Author(s): Johannes Meyer
autogenerated on Thu Aug 27 2015 13:22:38