laser_scan_display.h

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/*
 * Copyright (c) 2008, 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
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#ifndef RVIZ_LASER_SCAN_DISPLAY_H
#define RVIZ_LASER_SCAN_DISPLAY_H

#include <sensor_msgs/LaserScan.h>

#include "rviz/message_filter_display.h"

namespace laser_geometry
{
class LaserProjection;
}

namespace rviz
{
class IntProperty;
class PointCloudCommon;

class LaserScanDisplay : public MessageFilterDisplay<sensor_msgs::LaserScan>
{
  Q_OBJECT
public:
  LaserScanDisplay();
  ~LaserScanDisplay() override;

  void reset() override;

  void update(float wall_dt, float ros_dt) override;

private Q_SLOTS:
  void updateQueueSize();

protected:
  void onInitialize() override;

  void processMessage(const sensor_msgs::LaserScanConstPtr& scan) override;

  void checkTolerance(int tolerance);

  IntProperty* queue_size_property_;

  PointCloudCommon* point_cloud_common_;

  laser_geometry::LaserProjection* projector_;
  ros::Duration filter_tolerance_;
};

} // namespace rviz

#endif