pose_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 
00031 #ifndef RVIZ_POSE_DISPLAY_H_
00032 #define RVIZ_POSE_DISPLAY_H_
00033 
00034 #include <boost/shared_ptr.hpp>
00035 
00036 #include <geometry_msgs/PoseStamped.h>
00037 
00038 #include "rviz/message_filter_display.h"
00039 #include "rviz/selection/forwards.h"
00040 
00041 namespace rviz
00042 {
00043 class Arrow;
00044 class Axes;
00045 class ColorProperty;
00046 class EnumProperty;
00047 class FloatProperty;
00048 class Shape;
00049 
00050 class PoseDisplaySelectionHandler;
00051 typedef boost::shared_ptr<PoseDisplaySelectionHandler> PoseDisplaySelectionHandlerPtr;
00052 
00054 class PoseDisplay: public MessageFilterDisplay<geometry_msgs::PoseStamped>
00055 {
00056 Q_OBJECT
00057 public:
00058   enum Shape
00059   {
00060     Arrow,
00061     Axes,
00062   };
00063 
00064   PoseDisplay();
00065   virtual ~PoseDisplay();
00066 
00067   virtual void onInitialize();
00068   virtual void reset();
00069 
00070 protected:
00072   virtual void onEnable();
00073 
00074 private Q_SLOTS:
00075   void updateShapeVisibility();
00076   void updateColorAndAlpha();
00077   void updateShapeChoice();
00078   void updateAxisGeometry();
00079   void updateArrowGeometry();
00080 
00081 private:
00082   void clear();
00083 
00084   virtual void processMessage( const geometry_msgs::PoseStamped::ConstPtr& message );
00085 
00086   rviz::Arrow* arrow_;
00087   rviz::Axes* axes_;
00088   bool pose_valid_;
00089   PoseDisplaySelectionHandlerPtr coll_handler_;
00090 
00091   EnumProperty* shape_property_;
00092 
00093   ColorProperty* color_property_;
00094   FloatProperty* alpha_property_;
00095 
00096   FloatProperty* head_radius_property_;
00097   FloatProperty* head_length_property_;
00098   FloatProperty* shaft_radius_property_;
00099   FloatProperty* shaft_length_property_;
00100 
00101   FloatProperty* axes_length_property_;
00102   FloatProperty* axes_radius_property_;
00103 
00104   friend class PoseDisplaySelectionHandler;
00105 };
00106 
00107 } // namespace rviz
00108 
00109 #endif /* RVIZ_POSE_DISPLAY_H_ */


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27