.. _program_listing_file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_point_drawing_plugin.h:

Program Listing for File point_drawing_plugin.h
===============================================

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

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

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, 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_DRAWING_PLUGIN_H_
   #define MAPVIZ_PLUGINS__POINT_DRAWING_PLUGIN_H_
   
   #include <mapviz/mapviz_plugin.h>
   #include <mapviz/map_canvas.h>
   
   // QT libraries
   #include <QGLWidget>
   #include <QObject>
   #include <QWidget>
   
   // ROS libraries
   #include <rclcpp/rclcpp.hpp>
   #include <tf2/transform_datatypes.h>
   
   // C++ standard libraries
   #include <deque>
   #include <list>
   #include <string>
   #include <vector>
   
   namespace mapviz_plugins
   {
   class PointDrawingPlugin : public mapviz::MapvizPlugin
   {
     Q_OBJECT
   
     public:
     struct StampedPoint
     {
       StampedPoint(): transformed(false) {}
   
       tf2::Vector3 point;
       tf2::Quaternion orientation;
       tf2::Vector3 transformed_point;
       tf2::Vector3 transformed_arrow_point;
       tf2::Vector3 transformed_arrow_left;
       tf2::Vector3 transformed_arrow_right;
       std::string source_frame;
       bool transformed;
       rclcpp::Time stamp;
   
       std::vector<tf2::Vector3> cov_points;
       std::vector<tf2::Vector3> transformed_cov_points;
     };
   
     enum DrawStyle
     {
       LINES = 0,
       POINTS,
       ARROWS
     };
   
     PointDrawingPlugin();
     ~PointDrawingPlugin() override = default;
     void ClearHistory() override;
   
     void Transform() override;
     virtual bool DrawPoints(double scale);
     virtual bool DrawArrows();
     virtual bool DrawArrow(const StampedPoint& point);
     virtual bool DrawLaps();
     virtual bool DrawLines();
     virtual void CollectLaps();
     virtual bool DrawLapsArrows();
     virtual bool TransformPoint(StampedPoint& point);
     virtual void UpdateColor(QColor base_color, int i);
     virtual void DrawCovariance();
   
     protected Q_SLOTS:
     virtual void BufferSizeChanged(int value);
     void DrawIcon() override;
     virtual void SetColor(const QColor& color);
     virtual void SetDrawStyle(QString style);
     virtual void SetDrawStyle(DrawStyle style);
     virtual void SetStaticArrowSizes(bool isChecked);
     virtual void SetArrowSize(int arrowSize);
     virtual void PositionToleranceChanged(double value);
     virtual void LapToggled(bool checked);
     virtual void CovariancedToggled(bool checked);
     virtual void ShowAllCovariancesToggled(bool checked);
     void ResetTransformedPoints();
     void ClearPoints();
   
     protected:
     void pushPoint(StampedPoint point);
     double bufferSize() const;
     double positionTolerance() const;
     const std::deque<StampedPoint>& points() const;
   
     private:
     int arrow_size_;
     DrawStyle draw_style_;
     StampedPoint cur_point_;
     std::deque<StampedPoint> points_;
     double position_tolerance_;
     int buffer_size_;
     bool covariance_checked_;
     bool show_all_covariances_checked_;
     bool new_lap_;
     QColor color_;
     bool lap_checked_;
     int buffer_holder_;
     double scale_;
     bool static_arrow_sizes_;
   
     private:
     std::vector<std::deque<StampedPoint> > laps_;
     bool got_begin_;
     tf2::Vector3 begin_;
   };
   }   // namespace mapviz_plugins
   
   #endif  // MAPVIZ_PLUGINS__POINT_DRAWING_PLUGIN_H_