target_visualizer_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGIN_TARGET_VISUALIZER_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_TARGET_VISUALIZER_DISPLAY_H_


#include <rviz/display.h>
#include <rviz/message_filter_display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/enum_property.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <rviz/ogre_helpers/movable_text.h>
#include <geometry_msgs/PoseStamped.h>

#include "facing_visualizer.h"

namespace jsk_rviz_plugin
{
  class TargetVisualizerDisplay:
    public rviz::MessageFilterDisplay<geometry_msgs::PoseStamped>
  {
    Q_OBJECT
  public:
    TargetVisualizerDisplay();
    virtual ~TargetVisualizerDisplay();
    enum ShapeType
    {
      SimpleCircle,
      GISCircle
    };
    
  protected:
    virtual void onInitialize();
    virtual void reset();
    virtual void onEnable();
    void processMessage(const geometry_msgs::PoseStamped::ConstPtr& msg);
    void update(float wall_dt, float ros_dt);
    rviz::StringProperty* target_name_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::ColorProperty* color_property_;
    rviz::FloatProperty* radius_property_;
    rviz::EnumProperty* shape_type_property_;
    FacingObject::Ptr visualizer_;
    
    boost::mutex mutex_;
    std::string target_name_;
    double alpha_;
    QColor color_;
    double radius_;
    bool message_recieved_;
    ShapeType current_type_;        
  private Q_SLOTS:
    void updateTargetName();
    void updateAlpha();
    void updateColor();
    void updateRadius();
    void updateShapeType();
  private:
    
  };
}

#endif