mapping_rviz_plugin: collision_map

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  * $Id: collision_map_display.h 45518 2010-10-08 20:52:15Z gjones $
00030  *
00031  */
00032 
00033 #ifndef RVIZ_COLLISION_MAP_DISPLAY_H_
00034 #define RVIZ_COLLISION_MAP_DISPLAY_H_
00035 
00036 #include "rviz/display.h"
00037 #include "rviz/helpers/color.h"
00038 #include "rviz/properties/forwards.h"
00039 
00040 #include <boost/thread/mutex.hpp>
00041 
00042 #include <boost/shared_ptr.hpp>
00043 
00044 #include <mapping_msgs/OrientedBoundingBox.h>
00045 #include <mapping_msgs/CollisionMap.h>
00046 
00047 #include <message_filters/subscriber.h>
00048 #include <tf/message_filter.h>
00049 
00050 namespace ogre_tools
00051 {
00052 class PointCloud;
00053 }
00054 
00055 namespace Ogre
00056 {
00057 class SceneNode;
00058 class ManualObject;
00059 }
00060 
00061 namespace mapping_rviz_plugin
00062 {
00063 
00064 namespace collision_render_ops
00065 {
00066 enum CollisionRenderOp
00067 {
00068   CBoxes, CPoints, CCount,
00069 };
00070 }
00071 typedef collision_render_ops::CollisionRenderOp CollisionRenderOp;
00072 
00077 class CollisionMapDisplay : public rviz::Display
00078 {
00079 public:
00080   CollisionMapDisplay(const std::string& name, rviz::VisualizationManager* manager);
00081 
00082   virtual ~CollisionMapDisplay();
00083 
00084   void setTopic(const std::string& topic);
00085   const std::string& getTopic()
00086   {
00087     return (topic_);
00088   }
00089 
00090   void setColor(const rviz::Color& color);
00091   const rviz::Color& getColor()
00092   {
00093     return (color_);
00094   }
00095 
00096   void setOverrideColor(bool override);
00097   bool getOverrideColor()
00098   {
00099     return (override_color_);
00100   }
00101 
00102   void setRenderOperation(int op);
00103   int getRenderOperation()
00104   {
00105     return (render_operation_);
00106   }
00107 
00108   void setPointSize(float size);
00109   float getPointSize()
00110   {
00111     return (point_size_);
00112   }
00113 
00114   void setAlpha(float alpha);
00115   float getAlpha()
00116   {
00117     return (alpha_);
00118   }
00119 
00120   // Overrides from Display
00121   virtual void targetFrameChanged();
00122   virtual void fixedFrameChanged();
00123   virtual void createProperties();
00124   virtual void update(float wall_dt, float ros_dt);
00125   virtual void reset();
00126 
00127 protected:
00128   void subscribe();
00129   void unsubscribe();
00130   void clear();
00131   void incomingMessage(const mapping_msgs::CollisionMap::ConstPtr& message);
00132   void processMessage(const mapping_msgs::CollisionMap::ConstPtr& message);
00133 
00134   // overrides from Display
00135   virtual void onEnable();
00136   virtual void onDisable();
00137 
00138   std::string topic_;
00139   rviz::Color color_;
00140   int render_operation_;
00141   bool override_color_;
00142   float point_size_;
00143   float alpha_;
00144 
00145   Ogre::SceneNode* scene_node_;
00146   Ogre::ManualObject* manual_object_;
00147   ogre_tools::PointCloud* cloud_;
00148 
00149   mapping_msgs::CollisionMap::ConstPtr current_message_;
00150   message_filters::Subscriber<mapping_msgs::CollisionMap> sub_;
00151   tf::MessageFilter<mapping_msgs::CollisionMap> tf_filter_;
00152 
00153   rviz::ColorPropertyWPtr color_property_;
00154   rviz::ROSTopicStringPropertyWPtr topic_property_;
00155   rviz::BoolPropertyWPtr override_color_property_;
00156   rviz::EnumPropertyWPtr render_operation_property_;
00157   rviz::FloatPropertyWPtr point_size_property_;
00158   rviz::FloatPropertyWPtr alpha_property_;
00159 };
00160 
00161 } // namespace mapping_rviz_plugin
00162 
00163 #endif /* RVIZ_COLLISION_MAP_DISPLAY_H_ */