occupancy_map_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_MAP_DISPLAY_H
00034 #define RVIZ_OCCUPANCY_MAP_DISPLAY_H
00035 
00036 #ifndef Q_MOC_RUN 
00037 
00038 #include <qobject.h>
00039 
00040 #include <ros/ros.h>
00041 
00042 #include "rviz/default_plugin/map_display.h"
00043 
00044 #include <octomap_msgs/Octomap.h>
00045 
00046 #include <octomap/OcTreeStamped.h>
00047 
00048 #include <message_filters/subscriber.h>
00049 
00050 #endif
00051 
00052 namespace octomap_rviz_plugin
00053 {
00054 
00055 class OccupancyMapDisplay: public rviz::MapDisplay
00056 {
00057 Q_OBJECT
00058 public:
00059   OccupancyMapDisplay();
00060   virtual ~OccupancyMapDisplay();
00061 
00062 private Q_SLOTS:
00063   void updateTopic();
00064   void updateTreeDepth();
00065 
00066 protected:
00067   virtual void onInitialize();
00068   virtual void subscribe();
00069   virtual void unsubscribe();
00070 
00071   virtual void handleOctomapBinaryMessage(const octomap_msgs::OctomapConstPtr& msg) = 0;
00072 
00073   boost::shared_ptr<message_filters::Subscriber<octomap_msgs::Octomap> > sub_;
00074 
00075   unsigned int octree_depth_;
00076   rviz::IntProperty* tree_depth_property_;
00077 };
00078 
00079 template <typename OcTreeType>
00080 class TemplatedOccupancyMapDisplay: public OccupancyMapDisplay {
00081 protected:
00082     void handleOctomapBinaryMessage(const octomap_msgs::OctomapConstPtr& msg);
00083 };
00084 
00085 } // namespace rviz
00086 
00087  #endif


octomap_rviz_plugins
Author(s): Julius Kammerl
autogenerated on Thu Jun 6 2019 18:26:16