.. _program_listing_file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_point_click_publisher_plugin.h:

Program Listing for File point_click_publisher_plugin.h
=======================================================

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

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

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014-2020, 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__POINT_CLICK_PUBLISHER_PLUGIN_H_
   #define MAPVIZ_PLUGINS__POINT_CLICK_PUBLISHER_PLUGIN_H_
   
   // Include mapviz_plugin.h first to ensure GL deps are included in the right order
   #include <mapviz/mapviz_plugin.h>
   
   #include <QGLWidget>
   #include <QTimer>
   #include <mapviz/map_canvas.h>
   
   #include <mapviz_plugins/canvas_click_filter.h>
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <geometry_msgs/msg/point_stamped.hpp>
   
   // C++ Standard Libraries
   #include <string>
   
   // QT autogenerated files
   #include "ui_point_click_publisher_config.h"
   #include "ui_topic_select.h"
   
   namespace mapviz_plugins
   {
   class PointClickPublisherPlugin : public mapviz::MapvizPlugin
   {
     Q_OBJECT;
   public:
     PointClickPublisherPlugin();
     ~PointClickPublisherPlugin() override;
   
     bool Initialize(QGLWidget* canvas) override;
     void Shutdown() override {}
   
     void SetNode(rclcpp::Node& node) override;
     void PrintError(const std::string& message) override;
     void PrintInfo(const std::string& message) override;
     void PrintWarning(const std::string& message) 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 Q_SLOTS:
     void pointClicked(const QPointF& point);
     void topicChanged(const QString& topic);
     void updateFrames();
   
   private:
     Ui::point_click_publisher_config ui_{};
     QWidget* config_widget_;
   
     CanvasClickFilter click_filter_;
     mapviz::MapCanvas* canvas_;
   
     QTimer frame_timer_;
     rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr point_publisher_;
   };
   }   // namespace mapviz_plugins
   
   #endif  // MAPVIZ_PLUGINS__POINT_CLICK_PUBLISHER_PLUGIN_H_