odometry_plugin.h

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#ifndef MAPVIZ_PLUGINS_ODOMETRY_PLUGIN_H_
#define MAPVIZ_PLUGINS_ODOMETRY_PLUGIN_H_

// C++ standard libraries
#include <list>
#include <string>
#include <vector>

#include <mapviz/mapviz_plugin.h>
#include <mapviz_plugins/point_drawing_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>

#include <mapviz/map_canvas.h>

// QT autogenerated files
#include "ui_odometry_config.h"

namespace mapviz_plugins
{
  class OdometryPlugin : public mapviz_plugins::PointDrawingPlugin
  {
    Q_OBJECT

   public:
    OdometryPlugin();
    virtual ~OdometryPlugin();

    bool Initialize(QGLWidget* canvas);
    void Shutdown()
    {
    }

    void Paint(QPainter* painter, double x, double y, double scale);
    void Draw(double x, double y, double scale);
    void LoadConfig(const YAML::Node& node, const std::string& path);
    void SaveConfig(YAML::Emitter& emitter, const std::string& path);

    QWidget* GetConfigWidget(QWidget* parent);

    bool SupportsPainting()
    {
      return true;
    }

   protected:
    void PrintError(const std::string& message);
    void PrintInfo(const std::string& message);
    void PrintWarning(const std::string& message);

   protected Q_SLOTS:
    void SelectTopic();
    void TopicEdited();

   private:
    void DrawCovariance();

    Ui::odometry_config ui_;
    QWidget* config_widget_;
    std::string topic_;
    ros::Subscriber odometry_sub_;
    bool has_message_;
    void odometryCallback(const nav_msgs::OdometryConstPtr odometry);
  };
}

#endif  // MAPVIZ_PLUGINS_ODOMETRY_PLUGIN_H_