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| 1 | +/* |
| 2 | + * Copyright (c) 2012, Willow Garage, Inc. |
| 3 | + * Copyright (c) 2018, Bosch Software Innovations GmbH. |
| 4 | + * All rights reserved. |
| 5 | + * |
| 6 | + * Redistribution and use in source and binary forms, with or without |
| 7 | + * modification, are permitted provided that the following conditions are met: |
| 8 | + * |
| 9 | + * * Redistributions of source code must retain the above copyright |
| 10 | + * notice, this list of conditions and the following disclaimer. |
| 11 | + * * Redistributions in binary form must reproduce the above copyright |
| 12 | + * notice, this list of conditions and the following disclaimer in the |
| 13 | + * documentation and/or other materials provided with the distribution. |
| 14 | + * * Neither the name of the Willow Garage, Inc. nor the names of its |
| 15 | + * contributors may be used to endorse or promote products derived from |
| 16 | + * this software without specific prior written permission. |
| 17 | + * |
| 18 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 19 | + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 20 | + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 21 | + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 22 | + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 23 | + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 24 | + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 25 | + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 26 | + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 27 | + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 28 | + * POSSIBILITY OF SUCH DAMAGE. |
| 29 | + */ |
| 30 | + |
| 31 | +// Copyright (c) 2019 Intel Corporation |
| 32 | +// Copyright (c) 2020 Sarthak Mittal |
| 33 | +// |
| 34 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 35 | +// you may not use this file except in compliance with the License. |
| 36 | +// You may obtain a copy of the License at |
| 37 | +// |
| 38 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 39 | +// |
| 40 | +// Unless required by applicable law or agreed to in writing, software |
| 41 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 42 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 43 | +// See the License for the specific language governing permissions and |
| 44 | +// limitations under the License. |
| 45 | + |
| 46 | +#ifndef NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_ |
| 47 | +#define NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_ |
| 48 | + |
| 49 | +#include <memory> |
| 50 | +#include <vector> |
| 51 | + |
| 52 | +#include "nav2_msgs/msg/particle_cloud.hpp" |
| 53 | + |
| 54 | +#include "rviz_rendering/objects/shape.hpp" |
| 55 | +#include "rviz_common/message_filter_display.hpp" |
| 56 | + |
| 57 | +namespace Ogre |
| 58 | +{ |
| 59 | +class ManualObject; |
| 60 | +} // namespace Ogre |
| 61 | + |
| 62 | +namespace rviz_common |
| 63 | +{ |
| 64 | +namespace properties |
| 65 | +{ |
| 66 | +class EnumProperty; |
| 67 | +class ColorProperty; |
| 68 | +class FloatProperty; |
| 69 | +} // namespace properties |
| 70 | +} // namespace rviz_common |
| 71 | + |
| 72 | +namespace rviz_rendering |
| 73 | +{ |
| 74 | +class Arrow; |
| 75 | +class Axes; |
| 76 | +} // namespace rviz_rendering |
| 77 | + |
| 78 | +namespace nav2_rviz_plugins |
| 79 | +{ |
| 80 | +class FlatWeightedArrowsArray; |
| 81 | +struct OgrePoseWithWeight |
| 82 | +{ |
| 83 | + Ogre::Vector3 position; |
| 84 | + Ogre::Quaternion orientation; |
| 85 | + float weight; |
| 86 | +}; |
| 87 | + |
| 88 | +/** @brief Displays a nav2_msgs/ParticleCloud message as a bunch of line-drawn weighted arrows. */ |
| 89 | +class ParticleCloudDisplay : public rviz_common::MessageFilterDisplay<nav2_msgs::msg::ParticleCloud> |
| 90 | +{ |
| 91 | + Q_OBJECT |
| 92 | + |
| 93 | +public: |
| 94 | + // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call |
| 95 | + // initialize instead |
| 96 | + ParticleCloudDisplay( |
| 97 | + rviz_common::DisplayContext * display_context, |
| 98 | + Ogre::SceneNode * scene_node); |
| 99 | + ParticleCloudDisplay(); |
| 100 | + ~ParticleCloudDisplay() override; |
| 101 | + |
| 102 | + void processMessage(nav2_msgs::msg::ParticleCloud::ConstSharedPtr msg) override; |
| 103 | + void setShape(QString shape); // for testing |
| 104 | + |
| 105 | +protected: |
| 106 | + void onInitialize() override; |
| 107 | + void reset() override; |
| 108 | + |
| 109 | +private Q_SLOTS: |
| 110 | + /// Update the interface and visible shapes based on the selected shape type. |
| 111 | + void updateShapeChoice(); |
| 112 | + |
| 113 | + /// Update the arrow color. |
| 114 | + void updateArrowColor(); |
| 115 | + |
| 116 | + /// Update arrow geometry |
| 117 | + void updateGeometry(); |
| 118 | + |
| 119 | +private: |
| 120 | + void initializeProperties(); |
| 121 | + bool validateFloats(const nav2_msgs::msg::ParticleCloud & msg); |
| 122 | + bool setTransform(std_msgs::msg::Header const & header); |
| 123 | + void updateDisplay(); |
| 124 | + void updateArrows2d(); |
| 125 | + void updateArrows3d(); |
| 126 | + void updateAxes(); |
| 127 | + void updateArrow3dGeometry(); |
| 128 | + void updateAxesGeometry(); |
| 129 | + |
| 130 | + std::unique_ptr<rviz_rendering::Axes> makeAxes(); |
| 131 | + std::unique_ptr<rviz_rendering::Arrow> makeArrow3d(); |
| 132 | + |
| 133 | + std::vector<OgrePoseWithWeight> poses_; |
| 134 | + std::unique_ptr<FlatWeightedArrowsArray> arrows2d_; |
| 135 | + std::vector<std::unique_ptr<rviz_rendering::Arrow>> arrows3d_; |
| 136 | + std::vector<std::unique_ptr<rviz_rendering::Axes>> axes_; |
| 137 | + |
| 138 | + Ogre::SceneNode * arrow_node_; |
| 139 | + Ogre::SceneNode * axes_node_; |
| 140 | + |
| 141 | + rviz_common::properties::EnumProperty * shape_property_; |
| 142 | + rviz_common::properties::ColorProperty * arrow_color_property_; |
| 143 | + rviz_common::properties::FloatProperty * arrow_alpha_property_; |
| 144 | + |
| 145 | + rviz_common::properties::FloatProperty * arrow_min_length_property_; |
| 146 | + rviz_common::properties::FloatProperty * arrow_max_length_property_; |
| 147 | + |
| 148 | + float min_length_; |
| 149 | + float max_length_; |
| 150 | + float length_scale_; |
| 151 | + float head_radius_scale_; |
| 152 | + float head_length_scale_; |
| 153 | + float shaft_radius_scale_; |
| 154 | +}; |
| 155 | + |
| 156 | +} // namespace nav2_rviz_plugins |
| 157 | + |
| 158 | +#endif // NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_ |
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