goal_tool.h

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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
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */
 
#ifndef RVIZ_GOAL_TOOL_H
#define RVIZ_GOAL_TOOL_H
 
#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
#include <QObject>
 
#include <ros/ros.h>
 
#include "rviz/default_plugin/tools/pose_tool.h"
#endif
 
namespace rviz
{
class Arrow;
class DisplayContext;
class StringProperty;
 
class GoalTool : public PoseTool
{
  Q_OBJECT
public:
  GoalTool();
  ~GoalTool() override
  {
  }
  void onInitialize() override;
 
protected:
  void onPoseSet(double x, double y, double theta) override;
 
private Q_SLOTS:
  void updateTopic();
 
private:
  ros::NodeHandle nh_;
  ros::Publisher pub_;
 
  StringProperty* topic_property_;
};
 
} // namespace rviz
 
#endif