RouteSegmentsDisplay.h

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#ifndef ROUTESEGMENTS_DISPLAY_H
#define ROUTESEGMENTS_DISPLAY_H

#ifndef Q_MOC_RUN
#include <boost/circular_buffer.hpp>

#include <rviz/message_filter_display.h>
#include <tuw_nav_msgs/RouteSegments.h>
#include <rviz/ogre_helpers/arrow.h>
#endif

#include <rviz/properties/enum_property.h>

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class ColorProperty;
class EnumProperty;
class FloatProperty;
class IntProperty;
}

// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace tuw_nav_rviz_plugin
{

class RouteSegmentsVisual;

// Here we declare our new subclass of rviz::Display.  Every display
// which can be listed in the "Displays" panel is a subclass of
// rviz::Display.
class RouteSegmentsDisplay: public rviz::MessageFilterDisplay<tuw_nav_msgs::RouteSegments>
{
Q_OBJECT
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  RouteSegmentsDisplay();
  virtual ~RouteSegmentsDisplay();

  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onInitialize();

  // A helper to clear this display back to the initial state.
  virtual void reset();

  // These Qt slots get connected to signals indicating changes in the user-editable properties.
private Q_SLOTS:
  void updateStartPointColor();
  void updateStartPointShape();
  void updateStartPointScale();
  void updateEndPointColor();
  void updateEndPointShape();
  void updateEndPointScale();
  void updateCenterPointColor();
  void updateCenterPointShape();
  void updateCenterPointScale();
    
  void updateHistoryLength();
  void updateColorLines();
  void updateColorArcs();
  void updateShowLines();
  void updateShowArcs();
  void updateShowStartPoints();
  void updateShowEndPoints();
  void updateShowCenterPoints();
  
  // Function to handle an incoming ROS message.
private:
  void processMessage( const tuw_nav_msgs::RouteSegments::ConstPtr& msg );

  // Storage for the list of visuals.  It is a circular buffer where
  // data gets popped from the front (oldest) and pushed to the back (newest)
  boost::circular_buffer<boost::shared_ptr<RouteSegmentsVisual> > visuals_;

  // User-editable property variables.
  rviz::ColorProperty* color_start_point_;
  rviz::EnumProperty*  shape_start_point_;
  rviz::FloatProperty* scale_start_point_;
  rviz::ColorProperty* color_end_point_;
  rviz::EnumProperty*  shape_end_point_;
  rviz::FloatProperty* scale_end_point_;
  rviz::ColorProperty* color_center_point_;
  rviz::EnumProperty*  shape_center_point_;
  rviz::FloatProperty* scale_center_point_;
  
  rviz::BoolProperty* show_center_point_;
  rviz::BoolProperty* show_end_point_;
  rviz::BoolProperty* show_start_point_;
  
  rviz::ColorProperty* color_lines_;
  rviz::BoolProperty* show_lines_property_;
  rviz::ColorProperty* color_arcs_;
  rviz::BoolProperty* show_arcs_property_;
  rviz::IntProperty*  history_length_property_;
};

} // end namespace tuw_nav_rviz_plugin

#endif // ROUTESEGMENTS_DISPLAY_H
// %EndTag(FULL_SOURCE)%