00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00031 #ifndef RVIZ_GRID_CELLS_DISPLAY_H 00032 #define RVIZ_GRID_CELLS_DISPLAY_H 00033 00034 #include "rviz/display.h" 00035 00036 #include <nav_msgs/GridCells.h> 00037 #include <nav_msgs/MapMetaData.h> 00038 00039 #include <message_filters/subscriber.h> 00040 #include <tf/message_filter.h> 00041 00042 #include <boost/shared_ptr.hpp> 00043 00044 namespace Ogre 00045 { 00046 class SceneNode; 00047 class ManualObject; 00048 } 00049 00050 namespace rviz 00051 { 00052 00053 class ColorProperty; 00054 class FloatProperty; 00055 class PointCloud; 00056 class RosTopicProperty; 00057 00062 class GridCellsDisplay : public Display 00063 { 00064 Q_OBJECT 00065 public: 00066 GridCellsDisplay(); 00067 virtual ~GridCellsDisplay(); 00068 00069 virtual void onInitialize(); 00070 00071 // Overrides from Display 00072 virtual void fixedFrameChanged(); 00073 virtual void reset(); 00074 00075 protected: 00076 // overrides from Display 00077 virtual void onEnable(); 00078 virtual void onDisable(); 00079 00080 private Q_SLOTS: 00081 void updateAlpha(); 00082 void updateTopic(); 00083 00084 private: 00085 void subscribe(); 00086 void unsubscribe(); 00087 void clear(); 00088 void incomingMessage( const nav_msgs::GridCells::ConstPtr& msg ); 00089 00090 Ogre::SceneNode* scene_node_; 00091 PointCloud* cloud_; 00092 00093 message_filters::Subscriber<nav_msgs::GridCells> sub_; 00094 tf::MessageFilter<nav_msgs::GridCells>* tf_filter_; 00095 00096 ColorProperty* color_property_; 00097 RosTopicProperty* topic_property_; 00098 FloatProperty* alpha_property_; 00099 00100 uint32_t messages_received_; 00101 uint64_t last_frame_count_; 00102 }; 00103 00104 } // namespace rviz 00105 00106 #endif /* RVIZ_GRID_CELLS_DISPLAY_H */ 00107