Program Listing for File pose_with_covariance_display.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.hpp
)
/*
* Copyright (c) 2017, Ellon Paiva Mendes @ LAAS-CNRS
* 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 the Willow Garage, Inc. 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 THE COPYRIGHT OWNER OR CONTRIBUTORS 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 RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_COVARIANCE__POSE_WITH_COVARIANCE_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_COVARIANCE__POSE_WITH_COVARIANCE_DISPLAY_HPP_
#include <memory>
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_common/interaction/forwards.hpp"
namespace rviz_rendering
{
class Arrow;
class Axes;
class Shape;
class CovarianceVisual;
} // namespace rviz_rendering
namespace rviz_common
{
namespace properties
{
class ColorProperty;
class EnumProperty;
class FloatProperty;
class BoolProperty;
class CovarianceProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class PoseWithCovSelectionHandler;
typedef std::shared_ptr<PoseWithCovSelectionHandler>
PoseWithCovarianceDisplaySelectionHandlerPtr;
class PoseWithCovarianceDisplay
: public rviz_common::MessageFilterDisplay<geometry_msgs::msg::PoseWithCovarianceStamped>
{
Q_OBJECT
public:
enum Shape
{
Arrow,
Axes,
};
PoseWithCovarianceDisplay();
~PoseWithCovarianceDisplay() override;
void onInitialize() override;
void reset() override;
protected:
void onEnable() override;
private Q_SLOTS:
void updateShapeVisibility();
void updateColorAndAlpha();
void updateShapeChoice();
void updateAxisGeometry();
void updateArrowGeometry();
void updateCovariance();
private:
void
processMessage(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) override;
void setupSelectionHandler();
std::shared_ptr<rviz_rendering::Arrow> arrow_;
std::shared_ptr<rviz_rendering::Axes> axes_;
std::shared_ptr<rviz_rendering::CovarianceVisual> covariance_;
bool pose_valid_;
PoseWithCovarianceDisplaySelectionHandlerPtr coll_handler_;
rviz_common::properties::EnumProperty * shape_property_;
rviz_common::properties::ColorProperty * color_property_;
rviz_common::properties::FloatProperty * alpha_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_;
friend class PoseWithCovSelectionHandler;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_COVARIANCE__POSE_WITH_COVARIANCE_DISPLAY_HPP_