collision_map_display.h
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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  * $Id$
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 
00039 #include <boost/thread/mutex.hpp>
00040 
00041 #include <boost/shared_ptr.hpp>
00042 
00043 #include <arm_navigation_msgs/OrientedBoundingBox.h>
00044 #include <arm_navigation_msgs/CollisionMap.h>
00045 
00046 #include <message_filters/subscriber.h>
00047 #include <tf/message_filter.h>
00048 
00049 namespace rviz
00050 {
00051 class PointCloud;
00052 class ColorProperty;
00053 class RosTopicProperty;
00054 class BoolProperty;
00055 class EnumProperty;
00056 class FloatProperty;
00057 }
00058 
00059 namespace Ogre
00060 {
00061 class SceneNode;
00062 class ManualObject;
00063 }
00064 
00065 namespace mapping_rviz_plugin
00066 {
00067 
00068 namespace collision_render_ops
00069 {
00070 enum CollisionRenderOp
00071 {
00072   CBoxes, CPoints, CCount,
00073 };
00074 }
00075 typedef collision_render_ops::CollisionRenderOp CollisionRenderOp;
00076 
00081 class CollisionMapDisplay : public rviz::Display
00082 {
00083 public:
00084   CollisionMapDisplay();
00085 
00086   virtual ~CollisionMapDisplay();
00087 
00088   virtual void onInitialize();
00089 
00090   void changedTopic();
00091 
00092   void changedColor();
00093   void changedOverrideColor();
00094 
00095   void changedRenderOperation();
00096   void changedPointSize();
00097   void changedAlpha();
00098 
00099 
00100   virtual void update(float wall_dt, float ros_dt);
00101   virtual void reset();
00102 
00103 protected:
00104   void subscribe();
00105   void unsubscribe();
00106   void clear();
00107   void incomingMessage(const arm_navigation_msgs::CollisionMap::ConstPtr& message);
00108   void processMessage(const arm_navigation_msgs::CollisionMap::ConstPtr& message);
00109 
00110   // overrides from Display
00111   virtual void onEnable();
00112   virtual void onDisable();
00113   virtual void fixedFrameChanged();
00114 
00115   std::string topic_;
00116   rviz::Color color_;
00117   int render_operation_;
00118   bool override_color_;
00119   float point_size_;
00120   float alpha_;
00121 
00122   Ogre::SceneNode* scene_node_;
00123   rviz::PointCloud* cloud_;
00124 
00125   arm_navigation_msgs::CollisionMap::ConstPtr current_message_;
00126   message_filters::Subscriber<arm_navigation_msgs::CollisionMap> sub_;
00127   tf::MessageFilter<arm_navigation_msgs::CollisionMap>* tf_filter_;
00128 
00129   rviz::ColorProperty* color_property_;
00130   rviz::RosTopicProperty* topic_property_;
00131   rviz::BoolProperty* override_color_property_;
00132   rviz::EnumProperty* render_operation_property_;
00133   rviz::FloatProperty* point_size_property_;
00134   rviz::FloatProperty* alpha_property_;
00135 };
00136 
00137 } // namespace mapping_rviz_plugin
00138 
00139 #endif /* RVIZ_COLLISION_MAP_DISPLAY_H_ */


mapping_rviz_plugin
Author(s): Josh Faust
autogenerated on Thu Dec 12 2013 11:10:20