Program Listing for File odometry_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* 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.
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* 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
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__ODOMETRY__ODOMETRY_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__ODOMETRY__ODOMETRY_DISPLAY_HPP_
#include <deque>
#include <memory>
#ifndef Q_MOC_RUN
// TODO(Martin-Idel-SI): Reenable once available
// #include <tf/message_filter.h>
#include "nav_msgs/msg/odometry.hpp"
#endif
#include "rviz_rendering/objects/covariance_visual.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_rendering
{
class Arrow;
class Axes;
} // namespace rviz_rendering
namespace rviz_common
{
namespace properties
{
class ColorProperty;
class FloatProperty;
class IntProperty;
class EnumProperty;
class CovarianceProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC OdometryDisplay : public
rviz_common::MessageFilterDisplay<nav_msgs::msg::Odometry>
{
Q_OBJECT
public:
enum Shape
{
ArrowShape,
AxesShape,
};
// TODO(Martin-Idel-SI): Constructor for testing, remove once ros_nodes can be mocked and call
// initialize instead
OdometryDisplay(rviz_common::DisplayContext * display_context, Ogre::SceneNode * scene_node);
OdometryDisplay();
~OdometryDisplay() override;
void onInitialize() override;
void reset() override;
// Overides of Display
void update(float wall_dt, float ros_dt) override;
void processMessage(nav_msgs::msg::Odometry::ConstSharedPtr msg) override;
protected:
void onEnable() override;
public Q_SLOTS:
void updateCovariances();
private Q_SLOTS:
void updateShapeChoice();
void updateShapeVisibility();
void updateColorAndAlpha();
void updateArrowsGeometry();
void updateAxisGeometry();
private:
void setupProperties();
void updateArrow(const std::unique_ptr<rviz_rendering::Arrow> & arrow);
void updateAxes(const std::unique_ptr<rviz_rendering::Axes> & axes);
bool messageIsValid(nav_msgs::msg::Odometry::ConstSharedPtr message);
bool messageIsSimilarToPrevious(nav_msgs::msg::Odometry::ConstSharedPtr message);
std::unique_ptr<rviz_rendering::Arrow> createAndSetArrow(
const Ogre::Vector3 & position, const Ogre::Quaternion & orientation, bool use_arrow);
std::unique_ptr<rviz_rendering::Axes> createAndSetAxes(
const Ogre::Vector3 & position, const Ogre::Quaternion & orientation, bool use_axes);
std::unique_ptr<rviz_rendering::CovarianceVisual> createAndSetCovarianceVisual(
const Ogre::Vector3 & position,
const Ogre::Quaternion & orientation,
nav_msgs::msg::Odometry::ConstSharedPtr message);
void clear();
std::deque<std::unique_ptr<rviz_rendering::Arrow>> arrows_;
std::deque<std::unique_ptr<rviz_rendering::Axes>> axes_;
std::deque<std::unique_ptr<rviz_rendering::CovarianceVisual>> covariances_;
nav_msgs::msg::Odometry::ConstSharedPtr last_used_message_;
rviz_common::properties::EnumProperty * shape_property_;
rviz_common::properties::ColorProperty * color_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::FloatProperty * position_tolerance_property_;
rviz_common::properties::FloatProperty * angle_tolerance_property_;
rviz_common::properties::IntProperty * keep_property_;
rviz_common::properties::FloatProperty * head_radius_property_;
rviz_common::properties::FloatProperty * head_length_property_;
rviz_common::properties::FloatProperty * shaft_radius_property_;
rviz_common::properties::FloatProperty * shaft_length_property_;
rviz_common::properties::FloatProperty * axes_length_property_;
rviz_common::properties::FloatProperty * axes_radius_property_;
rviz_common::properties::CovarianceProperty * covariance_property_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__ODOMETRY__ODOMETRY_DISPLAY_HPP_