robot_model_display.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
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef RVIZ_ROBOT_MODEL_DISPLAY_H
#define RVIZ_ROBOT_MODEL_DISPLAY_H
 
#include <rviz/display.h>
 
#include <rviz/ogre_helpers/ogre_vector.h>
 
#include <map>
 
namespace Ogre
{
class Entity;
class SceneNode;
} // namespace Ogre
 
namespace rviz
{
class Axes;
}
 
namespace rviz
{
class FloatProperty;
class Property;
class Robot;
class StringProperty;
 
class RobotModelDisplay : public Display
{
  Q_OBJECT
public:
  RobotModelDisplay();
  ~RobotModelDisplay() override;
 
  // Overrides from Display
  void onInitialize() override;
  void update(float wall_dt, float ros_dt) override;
  void fixedFrameChanged() override;
  void reset() override;
  using Display::load;
 
  void clear();
 
private Q_SLOTS:
  void updateVisualVisible();
  void updateCollisionVisible();
  void updateTfPrefix();
  void updateAlpha();
  void updateRobotDescription();
 
protected:
  virtual void load();
 
  // overrides from Display
  void onEnable() override;
  void onDisable() override;
 
  Robot* robot_; 
 
  bool has_new_transforms_; 
 
  float time_since_last_transform_;
 
  std::string robot_description_;
 
  Property* visual_enabled_property_;
  Property* collision_enabled_property_;
  FloatProperty* update_rate_property_;
  StringProperty* robot_description_property_;
  FloatProperty* alpha_property_;
  StringProperty* tf_prefix_property_;
};
 
} // namespace rviz
 
#endif