imu_augmentor_display.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is 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.
 */
 
// Header file must go in src directory for Qt/Rviz plugin
#ifndef LOCALIZATION_RVIZ_PLUGINS_IMU_AUGMENTOR_DISPLAY_H_  // NOLINT
#define LOCALIZATION_RVIZ_PLUGINS_IMU_AUGMENTOR_DISPLAY_H_  // NOLINT
 
// Required for Qt
#ifndef Q_MOC_RUN
#include <ff_msgs/EkfState.h>
#include <gtsam/geometry/Pose3.h>
#include <rviz/message_filter_display.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/axes.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <boost/circular_buffer.hpp>
#include <vector>
#endif
 
namespace Ogre {
class SceneNode;
}
 
namespace localization_rviz_plugins {
 
class ImuAugmentorDisplay : public rviz::MessageFilterDisplay<ff_msgs::EkfState> {
  Q_OBJECT    // NOLINT
    public :  // NOLINT
              ImuAugmentorDisplay();
  ~ImuAugmentorDisplay() = default;
 
  // private:
 protected:
  void onInitialize() final;
  void reset() final;
 
 private Q_SLOTS:  // NOLINT
 
 private:
  void processMessage(const ff_msgs::EkfState::ConstPtr& imu_augmentor_msg);
  void clearDisplay();
 
  boost::circular_buffer<std::unique_ptr<rviz::Axes>> imu_augmentor_pose_axes_;
  std::unique_ptr<rviz::Arrow> imu_acceleration_arrow_;
  std::unique_ptr<rviz::BoolProperty> show_pose_axes_;
  std::unique_ptr<rviz::FloatProperty> pose_axes_size_;
  std::unique_ptr<rviz::IntProperty> number_of_poses_;
  std::unique_ptr<rviz::BoolProperty> show_imu_acceleration_arrow_;
  std::unique_ptr<rviz::FloatProperty> imu_acceleration_arrow_scale_;
};
}  // namespace localization_rviz_plugins
#endif  // LOCALIZATION_RVIZ_PLUGINS_IMU_AUGMENTOR_DISPLAY_H_ NOLINT