nav_grid_display.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_DISPLAY_H
#define ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_DISPLAY_H
 
#ifndef Q_MOC_RUN
#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <OgreSharedPtr.h>
#endif
 
#include <rviz/properties/enum_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/display.h>
 
#include <nav_grid/vector_nav_grid.h>
 
#include <robot_nav_rviz_plugins/ogre_panel.h>
#include <robot_nav_rviz_plugins/nav_grid_palette.h>
#include <pluginlib/class_loader.h>
 
#include <string>
#include <vector>
 
namespace robot_nav_rviz_plugins
{
class NavGridDisplay: public rviz::Display
{
Q_OBJECT
public:
  explicit NavGridDisplay(const std::string& data_type, bool include_ignore_property = false);
  virtual ~NavGridDisplay();
 
  void reset() override;
  void setTopic(const QString &topic, const QString &datatype) override;
  void update(float wall_dt, float ros_dt) override;
Q_SIGNALS:
  void mapUpdated(const nav_core2::UIntBounds& updated_bounds);
 
protected Q_SLOTS:
  void updateAlpha();
  void updateTopic();
  void updatePalette();
  void showMap(const nav_core2::UIntBounds& updated_bounds);
  virtual void updateIgnoreType();
  virtual void updateIgnore() {}
protected:
  enum struct IgnoreType {NONE, VALUE, LIMIT};
  IgnoreType getIgnoreType() const { return static_cast<IgnoreType>(ignore_type_property_->getOptionInt()); }
 
  void onInitialize() override;
  void fixedFrameChanged() override;
  void onEnable() override;
  void onDisable() override;
  void subscribe();
 
  virtual void onSubscribe(const std::string& topic) {}
 
  void unsubscribe();
 
  virtual void onUnsubscribe() {}
 
  void clear();
 
  void transformMap();
 
  // The Actual Display Object
  // Note it has to be a pointer for lazy initialization
  OgrePanel::Ptr panel_display_;
 
  // Data
  nav_grid::VectorNavGrid<unsigned char> panel_data_;
  nav_grid::NavGridInfo cached_info_;
 
  // Non-editiable properties
  rviz::FloatProperty* resolution_property_;
  rviz::IntProperty* width_property_;
  rviz::IntProperty* height_property_;
 
  // Editable Properties
  rviz::RosTopicProperty* topic_property_;
  rviz::FloatProperty* alpha_property_;
  rviz::BoolProperty* unreliable_property_;
  rviz::BoolProperty* draw_behind_property_;
  rviz::EnumProperty* color_scheme_property_;
 
  // Properties only used by some subclasses (see constructor)
  rviz::EnumProperty* ignore_type_property_;
  rviz::FloatProperty* ignore_property_;
 
  // Color Scheme Management
  std::vector<std::string> color_scheme_names_;
  pluginlib::ClassLoader<NavGridPalette> palette_loader_;
};
 
}  // namespace robot_nav_rviz_plugins
 
#endif  // ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_DISPLAY_H