point_click_publisher_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"
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00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00028 // *****************************************************************************
00029 
00030 #ifndef MAPVIZ_PLUGINS_POINT_CLICK_PUBLISHER_H
00031 #define MAPVIZ_PLUGINS_POINT_CLICK_PUBLISHER_H
00032 
00033 // Include mapviz_plugin.h first to ensure GL deps are included in the right order
00034 #include <mapviz/mapviz_plugin.h>
00035 
00036 #include <QGLWidget>
00037 #include <QTimer>
00038 #include <mapviz/map_canvas.h>
00039 
00040 #include <mapviz_plugins/canvas_click_filter.h>
00041 
00042 #include <ros/ros.h>
00043 
00044 // QT autogenerated files
00045 #include "ui_point_click_publisher_config.h"
00046 #include "ui_topic_select.h"
00047 
00053 namespace mapviz_plugins
00054 {
00055   class PointClickPublisherPlugin : public mapviz::MapvizPlugin
00056   {
00057     Q_OBJECT;
00058   public:
00059 
00060     PointClickPublisherPlugin();
00061     virtual ~PointClickPublisherPlugin();
00062 
00063     bool Initialize(QGLWidget* canvas);
00064     void Shutdown() {}
00065 
00066     virtual void SetNode(const ros::NodeHandle& node);
00067     virtual void PrintError(const std::string& message);
00068     virtual void PrintInfo(const std::string& message);
00069     virtual void PrintWarning(const std::string& message);
00070 
00071     void Draw(double x, double y, double scale);
00072 
00073     void Transform() {}
00074 
00075     void LoadConfig(const YAML::Node& node, const std::string& path);
00076     void SaveConfig(YAML::Emitter& emitter, const std::string& path);
00077 
00078     QWidget* GetConfigWidget(QWidget* parent);
00079 
00080   protected Q_SLOTS:
00081     void pointClicked(const QPointF& point);
00082     void topicChanged(const QString& topic);
00083     void updateFrames();
00084 
00085   private:
00086 
00087     Ui::point_click_publisher_config ui_;
00088     QWidget* config_widget_;
00089 
00090     CanvasClickFilter click_filter_;
00091     mapviz::MapCanvas* canvas_;
00092 
00093     QTimer frame_timer_;
00094     ros::Publisher point_publisher_;
00095   };
00096 }
00097 
00098 #endif //MAPVIZ_PLUGINS_POINT_CLICK_PUBLISHER_H


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