odometry_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 
00031 #ifndef RVIZ_ODOMETRY_DISPLAY_H_
00032 #define RVIZ_ODOMETRY_DISPLAY_H_
00033 
00034 #include "rviz/display.h"
00035 #include "rviz/helpers/color.h"
00036 #include "rviz/properties/forwards.h"
00037 
00038 #include <nav_msgs/Odometry.h>
00039 
00040 #include <boost/shared_ptr.hpp>
00041 #include <boost/thread/mutex.hpp>
00042 
00043 #include <message_filters/subscriber.h>
00044 #include <tf/message_filter.h>
00045 
00046 #include <deque>
00047 
00048 namespace rviz
00049 {
00050 class Arrow;
00051 }
00052 
00053 namespace Ogre
00054 {
00055 class SceneNode;
00056 }
00057 
00058 namespace rviz
00059 {
00060 
00065 class OdometryDisplay : public Display
00066 {
00067 public:
00068   OdometryDisplay();
00069   virtual ~OdometryDisplay();
00070 
00071   virtual void onInitialize();
00072 
00073   void setTopic( const std::string& topic );
00074   const std::string& getTopic() { return topic_; }
00075 
00076   void setColor( const Color& color );
00077   const Color& getColor() { return color_; }
00078 
00079   void setLength( float length );
00080   float getLength() const { return length_; }
00081 
00082   void setPositionTolerance( float tol );
00083   float getPositionTolerance() { return position_tolerance_; }
00084 
00085   void setAngleTolerance( float tol );
00086   float getAngleTolerance() { return angle_tolerance_; }
00087 
00088   void setKeep(uint32_t keep);
00089   uint32_t getKeep() { return keep_; }
00090 
00091   // Overrides from Display
00092   virtual void fixedFrameChanged();
00093   virtual void createProperties();
00094   virtual void update(float wall_dt, float ros_dt);
00095   virtual void reset();
00096 
00097 protected:
00098   void subscribe();
00099   void unsubscribe();
00100   void clear();
00101 
00102   void incomingMessage( const nav_msgs::Odometry::ConstPtr& message );
00103   void processMessage( const nav_msgs::Odometry::ConstPtr& message );
00104   void transformArrow( const nav_msgs::Odometry::ConstPtr& message, Arrow* arrow );
00105 
00106   // overrides from Display
00107   virtual void onEnable();
00108   virtual void onDisable();
00109 
00110   std::string topic_;
00111   Color color_;
00112   uint32_t keep_;
00113   float length_; // Length of each arrow, in meters.
00114 
00115   typedef std::deque<Arrow*> D_Arrow;
00116   D_Arrow arrows_;
00117 
00118   Ogre::SceneNode* scene_node_;
00119 
00120   float position_tolerance_;
00121   float angle_tolerance_;
00122 
00123   uint32_t messages_received_;
00124 
00125   nav_msgs::Odometry::ConstPtr last_used_message_;
00126   message_filters::Subscriber<nav_msgs::Odometry> sub_;
00127   tf::MessageFilter<nav_msgs::Odometry>* tf_filter_;
00128 
00129   ColorPropertyWPtr color_property_;
00130   ROSTopicStringPropertyWPtr topic_property_;
00131   FloatPropertyWPtr position_tolerance_property_;
00132   FloatPropertyWPtr angle_tolerance_property_;
00133   IntPropertyWPtr keep_property_;
00134   FloatPropertyWPtr length_property_;
00135 };
00136 
00137 } // namespace rviz
00138 
00139 #endif /* RVIZ_ODOMETRY_DISPLAY_H_ */


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