plan_route_plugin.h
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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_PLAN_ROUTE_PLUGIN_H_
00031 #define MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
00032 
00033 // C++ standard libraries
00034 #include <string>
00035 #include <vector>
00036 
00037 #include <mapviz/mapviz_plugin.h>
00038 
00039 // QT libraries
00040 #include <QGLWidget>
00041 #include <QObject>
00042 #include <QWidget>
00043 
00044 // ROS libraries
00045 #include <ros/ros.h>
00046 #include <tf/transform_datatypes.h>
00047 
00048 // Mapviz libraries
00049 #include <mapviz/map_canvas.h>
00050 #include <swri_route_util/route.h>
00051 
00052 // Messages
00053 #include <geometry_msgs/Pose.h>
00054 #include <marti_nav_msgs/Route.h>
00055 
00056 // QT autogenerated files
00057 #include "ui_plan_route_config.h"
00058 
00059 namespace mapviz_plugins
00060 {
00061   class PlanRoutePlugin : public mapviz::MapvizPlugin
00062   {
00063     Q_OBJECT
00064 
00065    public:
00066 
00067     PlanRoutePlugin();
00068     virtual ~PlanRoutePlugin();
00069 
00070     bool Initialize(QGLWidget* canvas);
00071     void Shutdown()
00072     {
00073     }
00074 
00075     void Draw(double x, double y, double scale);
00076     void Paint(QPainter* painter, double x, double y, double scale);
00077 
00078     void Transform() {};
00079 
00080     void LoadConfig(const YAML::Node& node, const std::string& path);
00081     void SaveConfig(YAML::Emitter& emitter, const std::string& path);
00082 
00083     QWidget* GetConfigWidget(QWidget* parent);
00084 
00085     bool SupportsPainting()
00086     {
00087       return true;
00088     }
00089 
00090    protected:
00091     void PrintError(const std::string& message);
00092     void PrintInfo(const std::string& message);
00093     void PrintWarning(const std::string& message);
00094     bool eventFilter(QObject *object, QEvent* event);
00095     bool handleMousePress(QMouseEvent *);
00096     bool handleMouseRelease(QMouseEvent *);
00097     bool handleMouseMove(QMouseEvent *);
00098 
00099    protected Q_SLOTS:
00100     void PublishRoute();
00101     void PlanRoute();
00102     void Clear();
00103 
00104    private:
00105     void Retry(const ros::TimerEvent& e);
00106 
00107     Ui::plan_route_config ui_;
00108     QWidget* config_widget_;
00109     mapviz::MapCanvas* map_canvas_;
00110 
00111     std::string route_topic_;
00112 
00113     ros::Publisher route_pub_;
00114     ros::Timer retry_timer_;
00115 
00116     bool failed_service_;
00117     swri_route_util::RoutePtr route_preview_;
00118 
00119     std::vector<geometry_msgs::Pose> waypoints_;
00120 
00121     int selected_point_;
00122     bool is_mouse_down_;
00123     QPointF mouse_down_pos_;
00124     qint64 mouse_down_time_;
00125 
00126     qint64 max_ms_;
00127     qreal max_distance_;
00128   };
00129 }
00130 
00131 #endif  // MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_


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