.. _program_listing_file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_laserscan_plugin.h:

Program Listing for File laserscan_plugin.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_laserscan_plugin.h>` (``/tmp/ws/src/mapviz/mapviz_plugins/include/mapviz_plugins/laserscan_plugin.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2015, Southwest Research Institute® (SwRI®)
   // 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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 CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef MAPVIZ_PLUGINS__LASERSCAN_PLUGIN_H_
   #define MAPVIZ_PLUGINS__LASERSCAN_PLUGIN_H_
   
   #include <mapviz/mapviz_plugin.h>
   
   // QT libraries
   #include <QGLWidget>
   #include <QColor>
   
   // ROS libraries
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   
   // C++ standard libraries
   #include <string>
   #include <deque>
   #include <vector>
   
   // QT autogenerated files
   #include "ui_laserscan_config.h"
   
   namespace mapviz_plugins
   {
   class LaserScanPlugin : public mapviz::MapvizPlugin
   {
     Q_OBJECT
   
     public:
       enum
       {
         COLOR_FLAT = 0,
         COLOR_INTENSITY = 1,
         COLOR_RANGE = 2,
         COLOR_X = 3,
         COLOR_Y = 4,
         COLOR_Z = 5
       };
       LaserScanPlugin();
       ~LaserScanPlugin() override = default;
   
       bool Initialize(QGLWidget* canvas) override;
       void Shutdown() override {}
   
       void ClearHistory() override;
   
       void Draw(double x, double y, double scale) override;
   
       void Transform() override;
   
       void LoadConfig(const YAML::Node& node, const std::string& path) override;
       void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
   
       QWidget* GetConfigWidget(QWidget* parent) override;
   
     protected:
       void PrintError(const std::string& message) override;
       void PrintInfo(const std::string& message) override;
       void PrintWarning(const std::string& message) override;
   
     protected Q_SLOTS:
       void SelectTopic();
       void TopicEdited();
       void AlphaEdited(double val);
       void ColorTransformerChanged(int index);
       void MinValueChanged(double value);
       void MaxValueChanged(double value);
       void PointSizeChanged(int value);
       void BufferSizeChanged(int value);
       void UseRainbowChanged(int check_state);
       void UpdateColors();
       void DrawIcon() override;
       void ResetTransformedScans();
   
     private:
       struct StampedPoint
       {
         tf2::Vector3 point;
         tf2::Vector3 transformed_point;
         QColor color;
         float range;
         float intensity;
       };
   
       struct Scan
       {
         rclcpp::Time stamp;
         QColor color;
         std::vector<StampedPoint> points;
         std::string source_frame_;
         bool transformed;
         bool has_intensity;
       };
   
       void laserScanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan);
       QColor CalculateColor(const StampedPoint& point, bool has_intensity);
       void updatePreComputedTriginometic(const sensor_msgs::msg::LaserScan::SharedPtr msg);
   
       Ui::laserscan_config ui_;
       QWidget* config_widget_;
   
       std::string topic_;
       double alpha_;
       double min_value_;
       double max_value_;
       size_t point_size_;
       size_t buffer_size_;
   
       bool has_message_;
   
       // Use a list instead of a deque for scans to facilitate removing
       // timed-out scans in the middle of the list in case I ever re-implement
       // decay time (evenator)
       std::deque<Scan> scans_;
       rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr laserscan_sub_;
       std::vector<double> precomputed_cos_;
       std::vector<double> precomputed_sin_;
       size_t prev_ranges_size_;
       float  prev_angle_min_;
       float  prev_increment_;
       bool GetScanTransform(const Scan &scan, swri_transform_util::Transform& transform);
   };
   }   // namespace mapviz_plugins
   
   #endif  // MAPVIZ_PLUGINS__LASERSCAN_PLUGIN_H_