marker_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 
00030 #ifndef RVIZ_MARKER_DISPLAY_H
00031 #define RVIZ_MARKER_DISPLAY_H
00032 
00033 #include "rviz/display.h"
00034 #include "rviz/selection/forwards.h"
00035 #include "rviz/properties/forwards.h"
00036 
00037 #include <map>
00038 #include <set>
00039 
00040 #include <visualization_msgs/Marker.h>
00041 #include <visualization_msgs/MarkerArray.h>
00042 #include <boost/thread/mutex.hpp>
00043 #include <boost/shared_ptr.hpp>
00044 
00045 #include <message_filters/subscriber.h>
00046 #include <tf/message_filter.h>
00047 
00048 namespace Ogre
00049 {
00050 class SceneManager;
00051 class SceneNode;
00052 }
00053 
00054 namespace rviz
00055 {
00056 class Object;
00057 }
00058 
00059 namespace rviz
00060 {
00061 
00062 class MarkerSelectionHandler;
00063 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr;
00064 
00065 class MarkerBase;
00066 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
00067 
00068 typedef std::pair<std::string, int32_t> MarkerID;
00069 
00076 class MarkerDisplay : public Display
00077 {
00078 public:
00079   MarkerDisplay();
00080   virtual ~MarkerDisplay();
00081 
00082   virtual void onInitialize();
00083 
00084   virtual void update(float wall_dt, float ros_dt);
00085 
00086   virtual void fixedFrameChanged();
00087   virtual void reset();
00088 
00089   void setMarkerTopic(const std::string& topic);
00090   const std::string& getMarkerTopic() { return marker_topic_; }
00091 
00092   virtual void createProperties();
00093 
00094   void setNamespaceEnabled(const std::string& ns, bool enabled);
00095   bool isNamespaceEnabled(const std::string& ns);
00096 
00097   void deleteMarker(MarkerID id);
00098 
00099   void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text);
00100   void deleteMarkerStatus(MarkerID id);
00101 
00103   void setQueueSize( int size );
00104   int getQueueSize();
00105 
00107   virtual void hideVisible();
00108 
00110   virtual void restoreVisible();
00111 
00112 protected:
00113   virtual void onEnable();
00114   virtual void onDisable();
00115 
00119   virtual void subscribe();
00123   virtual void unsubscribe();
00124 
00128   void clearMarkers();
00129 
00134   void processMessage( const visualization_msgs::Marker::ConstPtr& message );
00139   void processAdd( const visualization_msgs::Marker::ConstPtr& message );
00144   void processDelete( const visualization_msgs::Marker::ConstPtr& message );
00145 
00146   MarkerBasePtr getMarker(MarkerID id);
00147 
00151   void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker);
00152 
00153   void incomingMarkerArray(const visualization_msgs::MarkerArray::ConstPtr& array);
00154 
00155   void failedMarker(const visualization_msgs::Marker::ConstPtr& marker, tf::FilterFailureReason reason);
00156 
00157   typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker;
00158   typedef std::set<MarkerBasePtr> S_MarkerBase;
00159   M_IDToMarker markers_;                                
00160   S_MarkerBase markers_with_expiration_;
00161   S_MarkerBase frame_locked_markers_;
00162   typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage;
00163   V_MarkerMessage message_queue_;                       
00164 
00165   boost::mutex queue_mutex_;
00166 
00167   Ogre::SceneNode* scene_node_;                         
00168 
00169   message_filters::Subscriber<visualization_msgs::Marker> sub_;
00170   tf::MessageFilter<visualization_msgs::Marker>* tf_filter_;
00171   ros::Subscriber array_sub_;
00172 
00173   std::string marker_topic_;
00174 
00175   struct Namespace
00176   {
00177     std::string name;
00178     bool enabled;
00179     BoolPropertyWPtr prop;
00180   };
00181   typedef std::map<std::string, Namespace> M_Namespace;
00182   M_Namespace namespaces_;
00183 
00184   ROSTopicStringPropertyWPtr marker_topic_property_;
00185   CategoryPropertyWPtr namespaces_category_;
00186   IntPropertyWPtr queue_size_property_;
00187 
00188   bool hidden_;
00189 };
00190 
00191 } // namespace rviz
00192 
00193 #endif /* RVIZ_MARKER_DISPLAY_H */


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32