stdr_gui_laser.h
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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #ifndef STDR_GUI_LASER_CONTAINER
00023 #define STDR_GUI_LASER_CONTAINER
00024 
00025 #include "stdr_gui/stdr_tools.h"
00026 #include "stdr_msgs/LaserSensorMsg.h"
00027 #include "sensor_msgs/LaserScan.h"
00028 
00033 namespace stdr_gui
00034 {
00039   class CGuiLaser
00040   {
00041     //------------------------------------------------------------------------//
00042     private:
00043       
00045       bool lock_;
00047       std::string topic_;
00048       
00050       std::string tf_frame_;
00051       
00053       stdr_msgs::LaserSensorMsg msg_;
00054       
00056       ros::Subscriber subscriber_;
00057       
00059       sensor_msgs::LaserScan scan_;
00060       
00062       char visualization_status_;
00063       
00064     //------------------------------------------------------------------------//
00065     public:
00066     
00073       CGuiLaser(stdr_msgs::LaserSensorMsg msg,std::string baseTopic);
00074       
00079       ~CGuiLaser(void);
00080       
00086       void callback(const sensor_msgs::LaserScan& msg); 
00087       
00095       void paint(QImage *m,float ocgd,tf::TransformListener *listener);
00096       
00104       void visualizerPaint(QImage *m,float ocgd,float maxRange);
00105       
00110       float getMaxRange(void);
00111       
00116       char getVisualizationStatus(void);
00117       
00122       void toggleVisualizationStatus(void);
00123       
00129       void setVisualizationStatus(char vs);
00130       
00135       std::string getFrameId(void);
00136   };  
00137 }
00138 
00139 #endif


stdr_gui
Author(s): Manos Tsardoulias
autogenerated on Wed Sep 2 2015 03:36:44