particle_cloud_display.hpp

/*
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 * Copyright (c) 2018, Bosch Software Innovations GmbH.
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// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_
#define NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_
 
#include <memory>
#include <vector>
 
#include "nav2_msgs/msg/particle_cloud.hpp"
 
#include "rviz_rendering/objects/shape.hpp"
#include "rviz_common/message_filter_display.hpp"
 
namespace Ogre
{
class ManualObject;
}  // namespace Ogre
 
namespace rviz_common
{
namespace properties
{
class EnumProperty;
class ColorProperty;
class FloatProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace rviz_rendering
{
class Arrow;
class Axes;
}  // namespace rviz_rendering
 
namespace nav2_rviz_plugins
{
class FlatWeightedArrowsArray;
struct OgrePoseWithWeight
{
  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  float weight;
};
 
class ParticleCloudDisplay : public rviz_common::MessageFilterDisplay<nav2_msgs::msg::ParticleCloud>
{
  Q_OBJECT
 
public:
  // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call
  // initialize instead
  ParticleCloudDisplay(
    rviz_common::DisplayContext * display_context,
    Ogre::SceneNode * scene_node);
  ParticleCloudDisplay();
  ~ParticleCloudDisplay() override;
 
  void processMessage(nav2_msgs::msg::ParticleCloud::ConstSharedPtr msg) override;
  void setShape(QString shape);  // for testing
 
protected:
  void onInitialize() override;
  void reset() override;
 
private Q_SLOTS:
  void updateShapeChoice();
 
  void updateArrowColor();
 
  void updateGeometry();
 
private:
  void initializeProperties();
  bool validateFloats(const nav2_msgs::msg::ParticleCloud & msg);
  bool setTransform(std_msgs::msg::Header const & header);
  void updateDisplay();
  void updateArrows2d();
  void updateArrows3d();
  void updateAxes();
  void updateArrow3dGeometry();
  void updateAxesGeometry();
 
  std::unique_ptr<rviz_rendering::Axes> makeAxes();
  std::unique_ptr<rviz_rendering::Arrow> makeArrow3d();
 
  std::vector<OgrePoseWithWeight> poses_;
  std::unique_ptr<FlatWeightedArrowsArray> arrows2d_;
  std::vector<std::unique_ptr<rviz_rendering::Arrow>> arrows3d_;
  std::vector<std::unique_ptr<rviz_rendering::Axes>> axes_;
 
  Ogre::SceneNode * arrow_node_;
  Ogre::SceneNode * axes_node_;
 
  rviz_common::properties::EnumProperty * shape_property_;
  rviz_common::properties::ColorProperty * arrow_color_property_;
  rviz_common::properties::FloatProperty * arrow_alpha_property_;
 
  rviz_common::properties::FloatProperty * arrow_min_length_property_;
  rviz_common::properties::FloatProperty * arrow_max_length_property_;
 
  float min_length_;
  float max_length_;
  float length_scale_;
  float head_radius_scale_;
  float head_length_scale_;
  float shaft_radius_scale_;
};
 
}  // namespace nav2_rviz_plugins
 
#endif  // NAV2_RVIZ_PLUGINS__PARTICLE_CLOUD_DISPLAY__PARTICLE_CLOUD_DISPLAY_HPP_