RobotGoalsArrayDisplay.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef POSE_WITH_COVARIANCE_DISPLAY_H
#define POSE_WITH_COVARIANCE_DISPLAY_H

#ifndef Q_MOC_RUN
#include <tuw_multi_robot_msgs/RobotGoalsArray.h>
#include <rviz/message_filter_display.h>
#endif

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class ColorProperty;
class FloatProperty;
}

// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace tuw_multi_robot_rviz
{

class RobotGoalsArrayVisual;

// Here we declare our new subclass of rviz::Display.  Every display
// which can be listed in the "Displays" panel is a subclass of
// rviz::Display.
class RobotGoalsArrayDisplay: public rviz::MessageFilterDisplay<tuw_multi_robot_msgs::RobotGoalsArray>
{
Q_OBJECT
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  RobotGoalsArrayDisplay();
  virtual ~RobotGoalsArrayDisplay();

  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onInitialize();

  // A helper to clear this display back to the initial state.
  virtual void reset();

  // These Qt slots get connected to signals indicating changes in the user-editable properties.
private Q_SLOTS:
  void updateScalePose();
  void updateColorPose();

  // Function to handle an incoming ROS message.
private:
  void processMessage( const tuw_multi_robot_msgs::RobotGoalsArray::ConstPtr& msg );

  // Storage of the visual
  boost::shared_ptr<RobotGoalsArrayVisual> visual_;

  // User-editable property variables.
  rviz::FloatProperty* property_scale_pose_;
  rviz::ColorProperty* property_color_pose_;
};

} // end namespace tuw_pose_rviz

#endif // POSE_WITH_COVARIANCE_DISPLAY_H
// %EndTag(FULL_SOURCE)%