occupancy_grid_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_GRID_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_GRID_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <list>
36 
37 #include <mapviz/mapviz_plugin.h>
38 
39 // QT libraries
40 #include <QGLWidget>
41 #include <QObject>
42 #include <QWidget>
43 #include <QTimer>
44 
45 // ROS libraries
46 #include <ros/ros.h>
47 #include <tf/transform_datatypes.h>
48 
49 #include <mapviz/map_canvas.h>
50 #include <nav_msgs/OccupancyGrid.h>
51 #include <map_msgs/OccupancyGridUpdate.h>
52 
53 // QT autogenerated files
54 #include "ui_occupancy_grid_config.h"
55 
56 namespace mapviz_plugins
57 {
59  {
60  Q_OBJECT
61 
62  typedef std::array<uchar, 256*4> Palette;
63 
64  public:
66  virtual ~OccupancyGridPlugin();
67 
68  bool Initialize(QGLWidget* canvas);
69  void Shutdown();
70 
71  void Draw(double x, double y, double scale);
72 
73  void Transform();
74 
75  void LoadConfig(const YAML::Node& node, const std::string& path);
76  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
77 
78  QWidget* GetConfigWidget(QWidget* parent);
79 
80  protected:
81  void PrintError(const std::string& message);
82  void PrintInfo(const std::string& message);
83  void PrintWarning(const std::string& message);
84 
85  protected Q_SLOTS:
86 
87  void SelectTopicGrid();
88  void TopicGridEdited();
89  void upgradeCheckBoxToggled(bool);
90  void colorSchemeUpdated(const QString &);
91 
92  void DrawIcon();
93 
94  void FrameChanged(std::string);
95 
96  private:
97  Ui::occupancy_grid_config ui_;
98  QWidget* config_widget_;
99 
100  nav_msgs::OccupancyGridConstPtr grid_;
101 
104 
107 
108  GLuint texture_id_;
109 
110  QPointF map_origin_;
112  std::vector<uchar> raw_buffer_;
113  std::vector<uchar> color_buffer_;
114  int32_t texture_size_;
115 
116  Palette map_palette_;
118 
119  void Callback(const nav_msgs::OccupancyGridConstPtr& msg);
120  void CallbackUpdate(const map_msgs::OccupancyGridUpdateConstPtr& msg);
121  void updateTexture();
122 
123  };
124 }
125 
126 #endif // MAPVIZ_PLUGINS_GRID_PLUGIN_H_
void PrintWarning(const std::string &message)
std::array< uchar, 256 *4 > Palette
nav_msgs::OccupancyGridConstPtr grid_
void PrintError(const std::string &message)
swri_transform_util::Transform transform_
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
void LoadConfig(const YAML::Node &node, const std::string &path)
void Callback(const nav_msgs::OccupancyGridConstPtr &msg)
void PrintInfo(const std::string &message)
QWidget * GetConfigWidget(QWidget *parent)
void Draw(double x, double y, double scale)
void CallbackUpdate(const map_msgs::OccupancyGridUpdateConstPtr &msg)


mapviz_plugins
Author(s): Marc Alban
autogenerated on Fri Dec 16 2022 03:59:33