occupancy_grid_display.h
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00001 /*
00002  * Copyright (c) 2013, 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  * Author: Julius Kammerl (jkammerl@willowgarage.com)
00030  *
00031  */
00032 
00033 #ifndef RVIZ_OCCUPANCY_GRID_DISPLAY_H
00034 #define RVIZ_OCCUPANCY_GRID_DISPLAY_H
00035 
00036 #include <ros/ros.h>
00037 
00038 #include <boost/shared_ptr.hpp>
00039 #include <boost/thread/mutex.hpp>
00040 
00041 #include <message_filters/subscriber.h>
00042 
00043 #include <octomap_msgs/Octomap.h>
00044 
00045 #include <rviz/display.h>
00046 #include "rviz/ogre_helpers/point_cloud.h"
00047 
00048 namespace rviz {
00049 class RosTopicProperty;
00050 class IntProperty;
00051 class EnumProperty;
00052 }
00053 
00054 namespace octomap_rviz_plugin
00055 {
00056 
00057 class OccupancyGridDisplay : public rviz::Display
00058 {
00059 Q_OBJECT
00060 public:
00061   OccupancyGridDisplay();
00062   virtual ~OccupancyGridDisplay();
00063 
00064   // Overrides from Display
00065   virtual void onInitialize();
00066   virtual void update(float wall_dt, float ros_dt);
00067   virtual void reset();
00068 
00069 private Q_SLOTS:
00070   void updateQueueSize();
00071   void updateTopic();
00072   void updateTreeDepth();
00073   void updateOctreeRenderMode();
00074   void updateOctreeColorMode();
00075 
00076 
00077 protected:
00078   // overrides from Display
00079   virtual void onEnable();
00080   virtual void onDisable();
00081 
00082   void subscribe();
00083   void unsubscribe();
00084 
00085   void incomingMessageCallback(const octomap_msgs::OctomapConstPtr& msg);
00086 
00087   void setColor( double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point& point);
00088 
00089   void clear();
00090 
00091   typedef std::vector<rviz::PointCloud::Point> VPoint;
00092   typedef std::vector<VPoint> VVPoint;
00093 
00094   boost::shared_ptr<message_filters::Subscriber<octomap_msgs::Octomap> > sub_;
00095 
00096   boost::mutex mutex_;
00097 
00098   // point buffer
00099   VVPoint new_points_;
00100   VVPoint point_buf_;
00101   bool new_points_received_;
00102 
00103   // Ogre-rviz point clouds
00104   std::vector<rviz::PointCloud*> cloud_;
00105   std::vector<double> box_size_;
00106 
00107   // Plugin properties
00108   rviz::IntProperty* queue_size_property_;
00109   rviz::RosTopicProperty* octomap_topic_property_;
00110   rviz::EnumProperty* octree_render_property_;
00111   rviz::EnumProperty* octree_coloring_property_;
00112   rviz::IntProperty* tree_depth_property_;
00113 
00114   u_int32_t queue_size_;
00115   std::size_t octree_depth_;
00116   uint32_t messages_received_;
00117   double color_factor_;
00118 };
00119 
00120 } // namespace octomap_rviz_plugin
00121 
00122 #endif //RVIZ_OCCUPANCY_GRID_DISPLAY_H


octomap_rviz_plugins
Author(s): Julius Kammerl
autogenerated on Mon Oct 6 2014 03:00:57