point_drawing_plugin.h
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29 
30 #ifndef MAPVIZ_POINT_DRAW_H_
31 #define MAPVIZ_POINT_DRAW_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <list>
36 
37 #include <mapviz/mapviz_plugin.h>
38 #include <mapviz/map_canvas.h>
39 
40 // QT libraries
41 #include <QGLWidget>
42 #include <QObject>
43 #include <QWidget>
44 
45 // ROS libraries
46 #include <ros/ros.h>
47 #include <tf/transform_datatypes.h>
48 
49 namespace mapviz_plugins
50 {
52  {
53  Q_OBJECT
54 
55  public:
56  struct StampedPoint
57  {
59 
66  std::string source_frame;
69 
70  std::vector<tf::Point> cov_points;
71  std::vector<tf::Point> transformed_cov_points;
72  };
73 
74  enum DrawStyle
75  {
76  LINES = 0,
79  };
80 
83  {
84  }
85 
86  void ClearHistory();
87 
88  virtual void Transform();
89  virtual bool DrawPoints(double scale);
90  virtual bool DrawArrows();
91  virtual bool DrawArrow(const StampedPoint& point);
92  virtual bool DrawLaps();
93  virtual bool DrawLines();
94  virtual void CollectLaps();
95  virtual bool DrawLapsArrows();
96  virtual bool TransformPoint(StampedPoint& point);
97  virtual void UpdateColor(QColor base_color, int i);
98  virtual void DrawCovariance();
99 
100  protected Q_SLOTS:
101  virtual void BufferSizeChanged(int value);
102  virtual void DrawIcon();
103  virtual void SetColor(const QColor& color);
104  virtual void SetDrawStyle(QString style);
105  virtual void SetDrawStyle(DrawStyle style);
106  virtual void SetStaticArrowSizes(bool isChecked);
107  virtual void SetArrowSize(int arrowSize);
108  virtual void PositionToleranceChanged(double value);
109  virtual void LapToggled(bool checked);
110  virtual void CovariancedToggled(bool checked);
111  virtual void ShowAllCovariancesToggled(bool checked);
112  void ResetTransformedPoints();
113  void ClearPoints();
114 
115  protected:
116  void pushPoint(StampedPoint point);
117  double bufferSize() const;
118  double positionTolerance() const;
119  const std::deque<StampedPoint>& points() const;
120 
121  private:
125  std::deque<StampedPoint> points_;
130  bool new_lap_;
131  QColor color_;
134  double scale_;
136 
137  private:
138  std::vector<std::deque<StampedPoint> > laps_;
141  };
142 }
143 
144 #endif // MAPVIZ_PLUGINS_POINT_DRAW_H_
virtual void PositionToleranceChanged(double value)
virtual void SetArrowSize(int arrowSize)
virtual void UpdateColor(QColor base_color, int i)
std::vector< std::deque< StampedPoint > > laps_
std::deque< StampedPoint > points_
virtual void SetColor(const QColor &color)
virtual void SetStaticArrowSizes(bool isChecked)
virtual bool DrawArrow(const StampedPoint &point)
virtual void ShowAllCovariancesToggled(bool checked)
const std::deque< StampedPoint > & points() const
virtual void CovariancedToggled(bool checked)
virtual void SetDrawStyle(QString style)
virtual bool TransformPoint(StampedPoint &point)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Fri Mar 19 2021 02:44:32