smacc_rviz_display.h

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/*
 * Copyright (c) 2012, 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#ifndef IMU_DISPLAY_H
#define IMU_DISPLAY_H
 
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <ros/network.h>
#endif
 
#include <boost/circular_buffer.hpp>
 
#include <smacc_msgs/SmaccStatus.h>
#include <rviz/message_filter_display.h>
#include <rviz/ogre_helpers/arrow.h>
 
 
using namespace Ogre;
using namespace rviz;
 
// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace smacc_rviz_plugin
{
 
class ImuVisual;
 
// BEGIN_TUTORIAL
// Here we declare our new subclass of rviz::Display.  Every display
// which can be listed in the "Displays" panel is a subclass of
// rviz::Display.
//
// SmaccRvizDisplay will show a 3D arrow showing the direction and magnitude
// of the IMU acceleration vector.  The base of the arrow will be at
// the frame listed in the header of the Imu message, and the
// direction of the arrow will be relative to the orientation of that
// frame.  It will also optionally show a history of recent
// acceleration vectors, which will be stored in a circular buffer.
//
// The SmaccRvizDisplay class itself just implements the circular buffer,
// editable parameters, and Display subclass machinery.  The visuals
// themselves are represented by a separate class, ImuVisual.  The
// idiom for the visuals is that when the objects exist, they appear
// in the scene, and when they are deleted, they disappear.
class SmaccRvizDisplay: public rviz::Display
{
Q_OBJECT
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  SmaccRvizDisplay();
  virtual ~SmaccRvizDisplay();
 
  virtual void subscribe();
  virtual void unsubscribe();
 
  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onInitialize();
 
  // A helper to clear this display back to the initial state.
  virtual void reset();
 
  // These Qt slots get connected to signals indicating changes in the user-editable properties.
private Q_SLOTS:
  void updateCurrentState();
  void updateTopic();
 
  // Function to handle an incoming ROS message.
private:
 
  void processMessage( const smacc_msgs::SmaccStatus::ConstPtr& msg );
 
  // Storage for the list of visuals.  It is a circular buffer where
  // data gets popped from the front (oldest) and pushed to the back (newest)
  //boost::circular_buffer<boost::shared_ptr<ImuVisual> > visuals_;
 
  // User-editable property variables.
  /*
  rviz::ColorProperty* color_property_;
  rviz::FloatProperty* alpha_property_;
  rviz::IntProperty* history_length_property_;
  */
 
  rviz::StringProperty* current_state_;
  rviz::RosTopicProperty* topic_property_ ;
  ros::NodeHandle nh_;
  ros::Subscriber sub_;
};
// END_TUTORIAL
 
} // end namespace rviz_plugin_tutorials
 
#endif // IMU_DISPLAY_H
// %EndTag(FULL_SOURCE)%