plan_route_plugin.h
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29 
30 #ifndef MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
31 #define MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
32 
33 // C++ standard libraries
34 #include <string>
35 #include <vector>
36 
37 #include <mapviz/mapviz_plugin.h>
38 
39 // QT libraries
40 #include <QGLWidget>
41 #include <QObject>
42 #include <QWidget>
43 
44 // ROS libraries
45 #include <ros/ros.h>
46 #include <tf/transform_datatypes.h>
47 
48 // Mapviz libraries
49 #include <mapviz/map_canvas.h>
50 #include <swri_route_util/route.h>
51 
52 // Messages
53 #include <geometry_msgs/Pose.h>
54 #include <marti_nav_msgs/Route.h>
55 
56 // QT autogenerated files
57 #include "ui_plan_route_config.h"
58 
59 namespace mapviz_plugins
60 {
62  {
63  Q_OBJECT
64 
65  public:
66 
68  virtual ~PlanRoutePlugin();
69 
70  bool Initialize(QGLWidget* canvas);
71  void Shutdown()
72  {
73  }
74 
75  void Draw(double x, double y, double scale);
76  void Paint(QPainter* painter, double x, double y, double scale);
77 
78  void Transform() {};
79 
80  void LoadConfig(const YAML::Node& node, const std::string& path);
81  void SaveConfig(YAML::Emitter& emitter, const std::string& path);
82 
83  QWidget* GetConfigWidget(QWidget* parent);
84 
86  {
87  return true;
88  }
89 
90  protected:
91  void PrintError(const std::string& message);
92  void PrintInfo(const std::string& message);
93  void PrintWarning(const std::string& message);
94  bool eventFilter(QObject *object, QEvent* event);
95  bool handleMousePress(QMouseEvent *);
96  bool handleMouseRelease(QMouseEvent *);
97  bool handleMouseMove(QMouseEvent *);
98 
99  protected Q_SLOTS:
100  void PublishRoute();
101  void PlanRoute();
102  void Clear();
103  void VisibilityChanged(bool);
104 
105  private:
106  void Retry(const ros::TimerEvent& e);
107 
108  Ui::plan_route_config ui_;
109  QWidget* config_widget_;
111 
112  std::string route_topic_;
113 
116 
119 
120  std::vector<geometry_msgs::Pose> waypoints_;
121 
126 
127  qint64 max_ms_;
129  };
130 }
131 
132 #endif // MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
void Retry(const ros::TimerEvent &e)
std::vector< geometry_msgs::Pose > waypoints_
void SaveConfig(YAML::Emitter &emitter, const std::string &path)
void Paint(QPainter *painter, double x, double y, double scale)
swri_route_util::RoutePtr route_preview_
void LoadConfig(const YAML::Node &node, const std::string &path)
void PrintError(const std::string &message)
void PrintInfo(const std::string &message)
void Draw(double x, double y, double scale)
bool eventFilter(QObject *object, QEvent *event)
bool Initialize(QGLWidget *canvas)
void PrintWarning(const std::string &message)
QWidget * GetConfigWidget(QWidget *parent)


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