Program Listing for File imu_display.h

↰ Return to documentation for file (src/imu_display.h)

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * Copyright (c) 2012, Ivan Dryanovski <ivan.dryanovski@gmail.com>
 * 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_IMU_PLUGIN_IMU_DISPLAY_H
#define RVIZ_IMU_PLUGIN_IMU_DISPLAY_H

#include <message_filters/subscriber.hpp>
#include <tf2_ros/message_filter.h>
#include <sensor_msgs/msg/imu.hpp>
#include <rviz_common/display.hpp>
#include <rviz_common/properties/property.hpp>
#include <rviz_common/message_filter_display.hpp>
#include <tf2_ros/transform_listener.h>

#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_common/display_group.hpp>

#include "imu_axes_visual.h"
#include "imu_orientation_visual.h"
#include "imu_acc_visual.h"

namespace Ogre {
class SceneNode;
}

namespace rviz_imu_plugin {

class ImuDisplay
    : public rviz_common::MessageFilterDisplay<sensor_msgs::msg::Imu>
{
    Q_OBJECT
  public:
    ImuDisplay();
    ~ImuDisplay() override;

    void onInitialize() override;
    void onEnable() override;
    void onDisable() override;

    void reset() override;

    void update(float dt, float ros_dt) override;

  private:
    void createProperties();

    const std::string& getTopic()
    {
        return topic_;
    }

    bool getBoxEnabled()
    {
        return box_enabled_;
    }
    float getBoxScaleX()
    {
        return box_visual_->getScaleX();
    }
    float getBoxScaleY()
    {
        return box_visual_->getScaleY();
    }
    float getBoxScaleZ()
    {
        return box_visual_->getScaleZ();
    }
    float getBoxAlpha()
    {
        return box_visual_->getAlpha();
    }
    const QColor& getBoxColor()
    {
        return box_visual_->getColor();
    }

    bool getAxesEnabled()
    {
        return axes_enabled_;
    }
    float getAxesScale()
    {
        return axes_visual_->getScale();
    }

    bool getAccEnabled()
    {
        return acc_enabled_;
    }
    float getAccDerotated()
    {
        return acc_visual_->getDerotated();
    }
    float getAccScale()
    {
        return acc_visual_->getScale();
    }
    float getAccAlpha()
    {
        return acc_visual_->getAlpha();
    }
    const QColor& getAccColor()
    {
        return acc_visual_->getColor();
    }

  protected Q_SLOTS:

    void updateTop();
    void updateBox();
    void updateAxes();
    void updateAcc();

  private:
    // Property objects for user-editable properties.
    rviz_common::properties::BoolProperty* fixed_frame_orientation_property_{};

    rviz_common::properties::Property* box_category_{};
    rviz_common::properties::Property* axes_category_{};
    rviz_common::properties::Property* acc_category_{};

    //    rviz::RosTopicProperty* topic_property_;
    rviz_common::properties::BoolProperty* box_enabled_property_{};
    rviz_common::properties::FloatProperty* box_scale_x_property_{};
    rviz_common::properties::FloatProperty* box_scale_y_property_{};
    rviz_common::properties::FloatProperty* box_scale_z_property_{};
    rviz_common::properties::ColorProperty* box_color_property_{};
    rviz_common::properties::FloatProperty* box_alpha_property_{};

    rviz_common::properties::BoolProperty* axes_enabled_property_{};
    rviz_common::properties::FloatProperty* axes_scale_property_{};

    rviz_common::properties::BoolProperty* acc_enabled_property_{};
    rviz_common::properties::BoolProperty* acc_derotated_property_{};
    rviz_common::properties::FloatProperty* acc_scale_property_{};
    rviz_common::properties::ColorProperty* acc_color_property_{};
    rviz_common::properties::FloatProperty* acc_alpha_property_{};

    // Differetn types of visuals
    ImuOrientationVisual* box_visual_{};
    ImuAxesVisual* axes_visual_{};
    ImuAccVisual* acc_visual_{};

    // User-editable property variables.
    std::string topic_;
    bool fixed_frame_orientation_;
    bool box_enabled_;
    bool axes_enabled_;
    bool acc_enabled_;

    // A node in the Ogre scene tree to be the parent of all our visuals.
    Ogre::SceneNode* scene_node_;

    int messages_received_;

    // Function to handle an incoming ROS message.
    void processMessage(sensor_msgs::msg::Imu::ConstSharedPtr msg) override;
};

}  // namespace rviz_imu_plugin

#endif  // RVIZ_IMU_PLUGIN_IMU_DISPLAY_H