point_drawing_plugin.h

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// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
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// modification, are permitted provided that the following conditions are met:
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//     * Redistributions in binary form must reproduce the above copyright
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//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
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#ifndef MAPVIZ_POINT_DRAW_H_
#define MAPVIZ_POINT_DRAW_H_
 
// C++ standard libraries
#include <string>
#include <list>
 
#include <mapviz/mapviz_plugin.h>
#include <mapviz/map_canvas.h>
 
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
 
// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
 
namespace mapviz_plugins
{
  class PointDrawingPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
   public:
    struct StampedPoint
    {
      StampedPoint(): transformed(false) {}
 
      tf::Point point;
      tf::Quaternion orientation;
      tf::Point transformed_point;
      tf::Point transformed_arrow_point;
      tf::Point transformed_arrow_left;
      tf::Point transformed_arrow_right;
      std::string source_frame;
      bool transformed;
      ros::Time stamp;
 
      std::vector<tf::Point> cov_points;
      std::vector<tf::Point> transformed_cov_points;
    };
 
    enum DrawStyle
    {
      LINES = 0,
      POINTS,
      ARROWS
    };
 
    PointDrawingPlugin();
    virtual ~PointDrawingPlugin()
    {
    }
 
    void ClearHistory();
 
    virtual void Transform();
    virtual bool DrawPoints(double scale);
    virtual bool DrawArrows();
    virtual bool DrawArrow(const StampedPoint& point);
    virtual bool DrawLaps();
    virtual bool DrawLines();
    virtual void CollectLaps();
    virtual bool DrawLapsArrows();
    virtual bool TransformPoint(StampedPoint& point);
    virtual void TransformPoint(StampedPoint& point, const swri_transform_util::Transform& transform);
    virtual void UpdateColor(QColor base_color, int i);
    virtual void DrawCovariance();
 
   protected Q_SLOTS:
    virtual void BufferSizeChanged(int value);
    virtual void DrawIcon();
    virtual void SetColor(const QColor& color);
    virtual void SetDrawStyle(QString style);
    virtual void SetDrawStyle(DrawStyle style);
    virtual void SetStaticArrowSizes(bool isChecked);
    virtual void SetArrowSize(int arrowSize);
    virtual void PositionToleranceChanged(double value);
    virtual void LapToggled(bool checked);
    virtual void CovariancedToggled(bool checked);
    virtual void ShowAllCovariancesToggled(bool checked);
    virtual void SetUseLatestTransforms(bool checked);
 
    void ResetTransformedPoints();
    void ClearPoints();
 
   protected:
    void pushPoint(StampedPoint point);
    double bufferSize() const;
    double positionTolerance() const;
    const std::deque<StampedPoint>& points() const;
    bool single_frame_;
 
 
   private:
    int arrow_size_;
    DrawStyle draw_style_;
    StampedPoint cur_point_;
    std::deque<StampedPoint> points_;
    double position_tolerance_;
    int buffer_size_;
    bool covariance_checked_;
    bool show_all_covariances_checked_;
    bool new_lap_;
    QColor color_;
    bool lap_checked_;
    int buffer_holder_;
    double scale_;
    bool static_arrow_sizes_;
    bool use_latest_transforms_;
 
   private:
    std::vector<std::deque<StampedPoint> > laps_;
    bool got_begin_;
    tf::Point begin_;
  };
}
 
#endif  // MAPVIZ_PLUGINS_POINT_DRAW_H_