Program Listing for File pose_display.hpp
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/*
* Copyright (c) 2012, Willow Garage, Inc.
* 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
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* 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__POSE_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE__POSE_DISPLAY_HPP_
#include <memory>
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_common/interaction/forwards.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_rendering
{
class Arrow;
class Axes;
class Shape;
} // namespace rviz_rendering
namespace rviz_common
{
namespace properties
{
class ColorProperty;
class EnumProperty;
class FloatProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class PoseDisplaySelectionHandler;
typedef std::shared_ptr<PoseDisplaySelectionHandler> PoseDisplaySelectionHandlerPtr;
class RVIZ_DEFAULT_PLUGINS_PUBLIC PoseDisplay : public
rviz_common::MessageFilterDisplay<geometry_msgs::msg::PoseStamped>
{
Q_OBJECT
public:
enum Shape
{
Arrow,
Axes,
};
PoseDisplay();
~PoseDisplay() override;
void onInitialize() override;
void reset() override;
protected:
void onEnable() override;
void onDisable() override;
private Q_SLOTS:
void updateShapeVisibility();
void updateColorAndAlpha();
void updateShapeChoice();
void updateAxisGeometry();
void updateArrowGeometry();
private:
void processMessage(geometry_msgs::msg::PoseStamped::ConstSharedPtr message) override;
void setupSelectionHandler();
std::unique_ptr<rviz_rendering::Arrow> arrow_;
std::unique_ptr<rviz_rendering::Axes> axes_;
bool pose_valid_;
PoseDisplaySelectionHandlerPtr 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_;
friend class PoseDisplaySelectionHandler;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE__POSE_DISPLAY_HPP_