grid_plugin.h
Go to the documentation of this file.
00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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 Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from 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 <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //
00028 // *****************************************************************************
00029 
00030 #ifndef MAPVIZ_PLUGINS_GRID_PLUGIN_H_
00031 #define MAPVIZ_PLUGINS_GRID_PLUGIN_H_
00032 
00033 // C++ standard libraries
00034 #include <string>
00035 #include <list>
00036 
00037 #include <mapviz/mapviz_plugin.h>
00038 
00039 // QT libraries
00040 #include <QGLWidget>
00041 #include <QObject>
00042 #include <QWidget>
00043 #include <QTimer>
00044 
00045 // ROS libraries
00046 #include <ros/ros.h>
00047 #include <tf/transform_datatypes.h>
00048 
00049 #include <mapviz/map_canvas.h>
00050 
00051 // QT autogenerated files
00052 #include "ui_grid_config.h"
00053 
00054 namespace mapviz_plugins
00055 {
00056   class GridPlugin : public mapviz::MapvizPlugin
00057   {
00058     Q_OBJECT
00059 
00060   public:
00061     GridPlugin();
00062     virtual ~GridPlugin();
00063 
00064     bool Initialize(QGLWidget* canvas);
00065     void Shutdown();
00066 
00067     void Draw(double x, double y, double scale);
00068 
00069     void Transform();
00070 
00071     void LoadConfig(const YAML::Node& node, const std::string& path);
00072     void SaveConfig(YAML::Emitter& emitter, const std::string& path);
00073 
00074     QWidget* GetConfigWidget(QWidget* parent);
00075 
00076   protected:
00077     void PrintError(const std::string& message);
00078     void PrintInfo(const std::string& message);
00079     void PrintWarning(const std::string& message);
00080 
00081   protected Q_SLOTS:
00082     void SelectFrame();
00083     void FrameEdited();
00084     void SetAlpha(double alpha);
00085     void SetX(double x);
00086     void SetY(double y);
00087     void SetSize(double size);
00088     void SetRows(int rows);
00089     void SetColumns(int columns);
00090     void DrawIcon();
00091 
00092   private:
00093     Ui::grid_config ui_;
00094     QWidget* config_widget_;
00095 
00096     double alpha_;
00097 
00098     tf::Point top_left_;
00099 
00100     double size_;
00101     int rows_;
00102     int columns_;
00103 
00104     bool transformed_;
00105 
00106     std::list<tf::Point> top_points_;
00107     std::list<tf::Point> bottom_points_;
00108     std::list<tf::Point> left_points_;
00109     std::list<tf::Point> right_points_;
00110 
00111     std::list<tf::Point> transformed_top_points_;
00112     std::list<tf::Point> transformed_bottom_points_;
00113     std::list<tf::Point> transformed_left_points_;
00114     std::list<tf::Point> transformed_right_points_;
00115 
00116     swri_transform_util::Transform transform_;
00117 
00118     void RecalculateGrid();
00119     void Transform(std::list<tf::Point>& src, std::list<tf::Point>& dst);
00120   };
00121 }
00122 
00123 #endif  // MAPVIZ_PLUGINS_GRID_PLUGIN_H_


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 18:51:07