00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 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 the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * 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 THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef TRAJECTORY_TRACKER_RVIZ_PLUGINS_PATH_WITH_VELOCITY_DISPLAY_H 00031 #define TRAJECTORY_TRACKER_RVIZ_PLUGINS_PATH_WITH_VELOCITY_DISPLAY_H 00032 00033 #include <vector> 00034 00035 #include <rviz/message_filter_display.h> 00036 #include <rviz/ogre_helpers/arrow.h> 00037 #include <rviz/ogre_helpers/axes.h> 00038 #include <rviz/ogre_helpers/billboard_line.h> 00039 00040 #include <trajectory_tracker_msgs/PathWithVelocity.h> 00041 #include <trajectory_tracker_msgs/PoseStampedWithVelocity.h> 00042 00043 namespace Ogre 00044 { 00045 class ManualObject; 00046 } // namespace Ogre 00047 00048 namespace rviz 00049 { 00050 class ColorProperty; 00051 class FloatProperty; 00052 class IntProperty; 00053 class EnumProperty; 00054 class BillboardLine; 00055 class VectorProperty; 00056 } // namespace rviz 00057 00058 namespace trajectory_tracker_rviz_plugins 00059 { 00064 class PathWithVelocityDisplay : public rviz::MessageFilterDisplay<trajectory_tracker_msgs::PathWithVelocity> 00065 { 00066 Q_OBJECT 00067 public: 00068 PathWithVelocityDisplay(); 00069 virtual ~PathWithVelocityDisplay(); 00070 00072 virtual void reset(); 00073 00074 protected: 00076 virtual void onInitialize(); 00077 00079 void processMessage(const trajectory_tracker_msgs::PathWithVelocity::ConstPtr& msg); 00080 00081 private Q_SLOTS: 00082 void updateBufferLength(); 00083 void updateStyle(); 00084 void updateLineWidth(); 00085 void updateOffset(); 00086 void updatePoseStyle(); 00087 void updatePoseAxisGeometry(); 00088 void updatePoseArrowColor(); 00089 void updatePoseArrowGeometry(); 00090 00091 private: 00092 void destroyObjects(); 00093 void allocateArrowVector(std::vector<rviz::Arrow*>& arrow_vect, size_t num); 00094 void allocateAxesVector(std::vector<rviz::Axes*>& axes_vect, size_t num); 00095 void destroyPoseAxesChain(); 00096 void destroyPoseArrowChain(); 00097 00098 typedef std::vector<rviz::Axes*> AxesPtrArray; 00099 typedef std::vector<rviz::Arrow*> ArrowPtrArray; 00100 00101 std::vector<Ogre::ManualObject*> manual_objects_; 00102 std::vector<rviz::BillboardLine*> billboard_lines_; 00103 std::vector<AxesPtrArray> axes_chain_; 00104 std::vector<ArrowPtrArray> arrow_chain_; 00105 00106 rviz::EnumProperty* style_property_; 00107 rviz::ColorProperty* color_property_; 00108 rviz::FloatProperty* alpha_property_; 00109 rviz::FloatProperty* line_width_property_; 00110 rviz::IntProperty* buffer_length_property_; 00111 rviz::VectorProperty* offset_property_; 00112 00113 enum LineStyle 00114 { 00115 LINES, 00116 BILLBOARDS 00117 }; 00118 00119 // pose marker property 00120 rviz::EnumProperty* pose_style_property_; 00121 rviz::FloatProperty* pose_axes_length_property_; 00122 rviz::FloatProperty* pose_axes_radius_property_; 00123 rviz::ColorProperty* pose_arrow_color_property_; 00124 rviz::FloatProperty* pose_arrow_shaft_length_property_; 00125 rviz::FloatProperty* pose_arrow_head_length_property_; 00126 rviz::FloatProperty* pose_arrow_shaft_diameter_property_; 00127 rviz::FloatProperty* pose_arrow_head_diameter_property_; 00128 00129 enum PoseStyle 00130 { 00131 NONE, 00132 AXES, 00133 ARROWS, 00134 }; 00135 }; 00136 00137 } // namespace trajectory_tracker_rviz_plugins 00138 00139 #endif // TRAJECTORY_TRACKER_RVIZ_PLUGINS_PATH_WITH_VELOCITY_DISPLAY_H