robot_image_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 
36 #include <mapviz/mapviz_plugin.h>
37 
38 // QT libraries
39 #include <QGLWidget>
40 #include <QObject>
41 #include <QWidget>
42 
43 // ROS libraries
44 #include <ros/ros.h>
45 #include <tf/transform_datatypes.h>
46 
47 #include <mapviz/map_canvas.h>
48 
49 // QT autogenerated files
50 #include "ui_robot_image_config.h"
51 #include "ui_topic_select.h"
52 
53 namespace mapviz_plugins
54 {
56  {
57  Q_OBJECT
58 
59  public:
61  virtual ~RobotImagePlugin();
62 
63  bool Initialize(QGLWidget* canvas);
64  void Shutdown() {}
65 
66  void Draw(double x, double y, double scale);
67 
68  void Transform();
69 
70  void LoadConfig(const YAML::Node& node, const std::string& path);
71  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
72 
73  QWidget* GetConfigWidget(QWidget* parent);
74 
75  protected:
76  void PrintError(const std::string& message);
77  void PrintInfo(const std::string& message);
78  void PrintWarning(const std::string& message);
79 
80  protected Q_SLOTS:
81  void SelectFile();
82  void SelectFrame();
83  void FrameEdited();
84  void ImageEdited();
85  void WidthChanged(double value);
86  void HeightChanged(double value);
87  void OffsetXChanged(double value);
88  void OffsetYChanged(double value);
89  void RatioEqualToggled(bool toggled);
90  void RatioCustomToggled(bool toggled);
91  void RatioOriginalToggled(bool toggled);
92 
93  private:
94  Ui::robot_image_config ui_;
95  QWidget* config_widget_;
96 
97  double width_; //image width, if robot frame is x-forward this corresponds to robot length
98  double height_; //image height, corresponds to robot width
99  double offset_x_; //offset of image center from robot frame along x axis
100  double offset_y_; //offset of image center from robot frame along y axis
101  double image_ratio_;
102 
103  std::string filename_;
104  QImage image_;
108 
110 
115 
120 
121  void UpdateShape();
122  void LoadImage();
123  };
124 }
125 
126 #endif // MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
void PrintWarning(const std::string &message)
void PrintError(const std::string &message)
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
QWidget * GetConfigWidget(QWidget *parent)
void PrintInfo(const std::string &message)
tf::Vector3 Point
void Draw(double x, double y, double scale)
void LoadConfig(const YAML::Node &node, const std::string &path)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Fri Dec 16 2022 03:59:33