PathVecDisplay.h

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/*
 * Copyright (c) 2008, 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RVIZ_PATH_VEC_DISPLAY_H
#define RVIZ_PATH_VEC_DISPLAY_H

#include <nav_msgs/Path.h>
#include <tuw_nav_msgs/PathVec.h>

#include "rviz/message_filter_display.h"
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/axes.h>


namespace Ogre
{
class ManualObject;
}



namespace rviz
{
class ColorProperty;
class FloatProperty;
class IntProperty;
class EnumProperty;
class BillboardLine;
class VectorProperty;
}

namespace tuw_nav_rviz
{
    
class PathVecDisplay: public rviz::MessageFilterDisplay<tuw_nav_msgs::PathVec>
{
Q_OBJECT
public:
  PathVecDisplay();
  virtual ~PathVecDisplay();

  virtual void reset();

protected:
  virtual void onInitialize();

  void processMessage( const tuw_nav_msgs::PathVec::ConstPtr& msg );

private Q_SLOTS:
  void updateBufferLength();
  void updateStyle();
  void updateLineWidth();
  void updateOffset();
  void updatePoseStyle();
  void updatePoseAxisGeometry();
  void updatePoseArrowColor();
  void updatePoseArrowGeometry();

private:
  void destroyObjects();
  void allocateArrowVector(std::vector<rviz::Arrow*>& arrow_vect, int num);
  void allocateAxesVector(std::vector<rviz::Axes*>& axes_vect, int num);
  void destroyPoseAxesChain();
  void destroyPoseArrowChain();

  std::vector<std::vector<Ogre::ManualObject*> >manual_objects_;
  std::vector<std::vector<rviz::BillboardLine*> >billboard_lines_;
  std::vector<std::vector<std::vector<rviz::Axes*> > >axes_chain_;
  std::vector<std::vector<std::vector<rviz::Arrow*> > >arrow_chain_;
  std::vector<size_t> pathsSize_;

  rviz::EnumProperty* style_property_;
  rviz::ColorProperty* color_property_;
  rviz::FloatProperty* alpha_property_;
  rviz::FloatProperty* line_width_property_;
  rviz::IntProperty* buffer_length_property_;
  rviz::VectorProperty* offset_property_;

  enum LineStyle {
    LINES,
    BILLBOARDS
  };

  // pose marker property
  rviz::EnumProperty*  pose_style_property_;
  rviz::FloatProperty* pose_axes_length_property_;
  rviz::FloatProperty* pose_axes_radius_property_;
  rviz::ColorProperty* pose_arrow_color_property_;
  rviz::FloatProperty* pose_arrow_shaft_length_property_;
  rviz::FloatProperty* pose_arrow_head_length_property_;
  rviz::FloatProperty* pose_arrow_shaft_diameter_property_;
  rviz::FloatProperty* pose_arrow_head_diameter_property_;

  enum PoseStyle
  {
    NONE,
    AXES,
    ARROWS,
  };

};

} // namespace rviz

#endif /* RVIZ_PATH_VEC_DISPLAY_H */