00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_ 00037 #define JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_ 00038 00039 #ifndef Q_MOC_RUN 00040 #include <rviz/message_filter_display.h> 00041 #include <rviz/properties/float_property.h> 00042 #include <rviz/properties/tf_frame_property.h> 00043 #include <rviz/properties/color_property.h> 00044 #include <rviz/properties/status_property.h> 00045 #include <rviz/ogre_helpers/billboard_line.h> 00046 #include <geometry_msgs/PointStamped.h> 00047 #endif 00048 00049 namespace jsk_rviz_plugins 00050 { 00051 00052 class TFTrajectoryDisplay: public rviz::Display 00053 { 00054 Q_OBJECT 00055 public: 00056 TFTrajectoryDisplay(); 00057 virtual ~TFTrajectoryDisplay(); 00058 protected: 00059 virtual void onInitialize(); 00060 virtual void onEnable(); 00061 virtual void onDisable(); 00062 virtual void update(float wall_dt, float ros_dt); 00063 00064 rviz::TfFrameProperty* frame_property_; 00065 rviz::FloatProperty* duration_property_; 00066 rviz::ColorProperty* color_property_; 00067 rviz::FloatProperty* line_width_property_; 00068 rviz::BillboardLine* line_; 00069 std::vector<geometry_msgs::PointStamped> trajectory_; 00070 std::string frame_; 00071 std::string fixed_frame_; 00072 float duration_; 00073 QColor color_; 00074 float line_width_; 00075 protected Q_SLOTS: 00076 void updateFrame(); 00077 void updateDuration(); 00078 void updateColor(); 00079 void updateLineWidth(); 00080 }; 00081 } 00082 00083 #endif