Program Listing for File tile_map_view.h
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#ifndef TILE_MAP_TILE_MAP_VIEW_H_
#define TILE_MAP_TILE_MAP_VIEW_H_
#include <string>
#include <tile_map/tile_source.h>
#include <tile_map/texture_cache.h>
#include <swri_transform_util/transform.h>
#include <rclcpp/logger.hpp>
namespace tile_map
{
class TileSource;
struct Tile
{
public:
QString url;
size_t url_hash;
int32_t level;
int32_t subdiv_count;
double subwidth;
TexturePtr texture;
std::vector<tf2::Vector3> points;
std::vector<tf2::Vector3> points_t;
};
class TileMapView
{
public:
explicit TileMapView(rclcpp::Logger logger = rclcpp::get_logger("tile_map::TileMapView"));
bool IsReady();
void ResetCache();
void SetLogger(rclcpp::Logger logger);
void SetTileSource(const std::shared_ptr<TileSource>& tile_source);
void SetTransform(const swri_transform_util::Transform& transform);
void SetView(
double latitude,
double longitude,
double scale,
int32_t width,
int32_t height);
void Draw();
private:
void DrawTiles(std::vector<Tile> &tiles ,int priority);
std::shared_ptr<TileSource> tile_source_;
swri_transform_util::Transform transform_;
int32_t level_;
int64_t center_x_;
int64_t center_y_;
int64_t size_;
int32_t width_;
int32_t height_;
std::vector<Tile> tiles_;
std::vector<Tile> precache_;
TextureCachePtr tile_cache_;
rclcpp::Logger logger_;
void ToLatLon(int32_t level, double x, double y, double& latitude, double& longitude);
void InitializeTile(int32_t level, int64_t x, int64_t y, Tile& tile, int priority);
};
}
#endif // TILE_MAP_TILE_MAP_VIEW_H_