.. _program_listing_file__tmp_ws_src_mapviz_mapviz_include_mapviz_mapviz.hpp:

Program Listing for File mapviz.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mapviz_mapviz_include_mapviz_mapviz.hpp>` (``/tmp/ws/src/mapviz/mapviz/include/mapviz/mapviz.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef MAPVIZ__MAPVIZ_HPP_
   #define MAPVIZ__MAPVIZ_HPP_
   
   // QT libraries
   #include <QtGui/QtGui>
   #include <QDialog>
   #include <QMenu>
   #include <QTimer>
   #include <QString>
   #include <QShowEvent>
   #include <QCloseEvent>
   #include <QListWidgetItem>
   #include <QModelIndex>
   #include <QColor>
   #include <QWidget>
   #include <QStringList>
   #include <QMainWindow>
   
   #include <swri_transform_util/transform_manager.h>
   #include <mapviz_interfaces/srv/add_mapviz_display.hpp>  // Service
   #include <mapviz/mapviz_plugin.h>
   #include <mapviz/map_canvas.h>
   #include <mapviz/video_writer.h>
   
   // ROS libraries
   #include <rclcpp/rclcpp.hpp>
   #include <pluginlib/class_loader.hpp>
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   #include <yaml-cpp/yaml.h>
   #include <std_srvs/srv/empty.hpp>
   
   // C++ standard libraries
   #include <string>
   #include <vector>
   #include <map>
   #include <memory>
   
   // Auto-generated UI files
   #include "ui_mapviz.h"
   #include "ui_pluginselect.h"
   
   
   #include "mapviz/stopwatch.h"
   
   namespace mapviz
   {
   class Mapviz : public QMainWindow
   {
     Q_OBJECT
   
   public:
     Mapviz(bool is_standalone,
       int argc,
       char** argv,
       QWidget *parent = 0,
       Qt::WindowFlags flags = 0);
     ~Mapviz();
   
     rclcpp::Node::SharedPtr GetNode();
   
     void Initialize();
   
   public Q_SLOTS:
     void AutoSave();
     void OpenConfig();
     void SaveConfig();
     void ClearConfig();
     void SelectNewDisplay();
     void RemoveDisplay();
     void RemoveDisplay(QListWidgetItem* item);
     void ReorderDisplays();
     void FixedFrameSelected(const QString& text);
     void TargetFrameSelected(const QString& text);
     void ToggleUseLatestTransforms(bool on);
     void UpdateFrames();
     void SpinOnce();
     void UpdateSizeHints();
     void ToggleConfigPanel(bool on);
     void ToggleStatusBar(bool on);
     void ToggleCaptureTools(bool on);
     void ToggleFixOrientation(bool on);
     void ToggleRotate90(bool on);
     void ToggleEnableAntialiasing(bool on);
     void ToggleShowPlugin(QListWidgetItem* item, bool visible);
     void ToggleRecord(bool on);
     void SetImageTransport(QAction* transport_action);
     void UpdateImageTransportMenu();
     void CaptureVideoFrame();
     void StopRecord();
     void Screenshot();
     void Force720p(bool on);
     void Force480p(bool on);
     void SetResizable(bool on);
     void SelectBackgroundColor(const QColor &color);
     void SetCaptureDirectory();
     void Hover(double x, double y, double scale);
     void Recenter();
     void HandleProfileTimer();
     void ClearHistory();
   
   Q_SIGNALS:
     void FrameGrabbed(QImage);
     void ImageTransportChanged();
   
   protected:
     void Open(const std::string& filename);
     void Save(const std::string& filename);
   
     MapvizPluginPtr CreateNewDisplay(
         const std::string& name,
         const std::string& type,
         bool visible,
         bool collapsed,
         int draw_order = 0);
   
     void AddDisplay(
       const mapviz_interfaces::srv::AddMapvizDisplay::Request::SharedPtr req,
       mapviz_interfaces::srv::AddMapvizDisplay::Response::SharedPtr resp);
   
     void ClearDisplays();
     void AdjustWindowSize();
   
     QString GetDefaultConfigPath();
   
     virtual void showEvent(QShowEvent* event);
     virtual void closeEvent(QCloseEvent* event);
   
     static const QString ROS_WORKSPACE_VAR;
     static const QString MAPVIZ_CONFIG_FILE;
     static const char IMAGE_TRANSPORT_PARAM[];
   
     Ui::mapviz ui_;
   
     QMenu* image_transport_menu_;
   
     QTimer frame_timer_;
     QTimer spin_timer_;
     QTimer save_timer_;
     QTimer record_timer_;
     QTimer profile_timer_;
   
     QLabel* xy_pos_label_;
     QLabel* lat_lon_pos_label_;
   
     QWidget* spacer1_;
     QWidget* spacer2_;
     QWidget* spacer3_;
     QPushButton* recenter_button_;
     QPushButton* rec_button_;
     QPushButton* stop_button_;
     QPushButton* screenshot_button_;
   
     int    argc_;
     char** argv_;
   
     bool is_standalone_;
     bool initialized_;
     bool force_720p_;
     bool force_480p_;
     bool resizable_;
     QColor background_;
   
     std::string capture_directory_;
     QThread video_thread_;
     VideoWriter* vid_writer_;
   
     bool updating_frames_;
   
     std::shared_ptr<rclcpp::Node> node_;
     rclcpp::Service<mapviz_interfaces::srv::AddMapvizDisplay>::SharedPtr add_display_srv_;
     std::shared_ptr<tf2_ros::Buffer> tf_buf_;
     std::shared_ptr<tf2_ros::TransformListener> tf_;
     swri_transform_util::TransformManagerPtr tf_manager_;
   
     pluginlib::ClassLoader<MapvizPlugin>* loader_;
     MapCanvas* canvas_;
     std::map<QListWidgetItem*, MapvizPluginPtr> plugins_;
   
     Stopwatch meas_spin_;
   };
   }   // namespace mapviz
   
   #endif  // MAPVIZ__MAPVIZ_HPP_