/********************************************************************* * Software License Agreement (BSD License) * * Copyright (c) 2017, Bielefeld University * 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 Bielefeld University 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. *********************************************************************/ /* Author: Robert Haschke Desc: Monitor manipulation tasks and visualize their solutions */ #pragma once #include #ifndef Q_MOC_RUN #include "job_queue.h" #include #include #endif namespace rviz { class StringProperty; class RosTopicProperty; } namespace moveit { namespace core { MOVEIT_CLASS_FORWARD(RobotModel) } } namespace rdf_loader { MOVEIT_CLASS_FORWARD(RDFLoader) } namespace moveit_rviz_plugin { MOVEIT_CLASS_FORWARD(TaskSolutionVisualization) MOVEIT_CLASS_FORWARD(TaskListModel) class TaskDisplay : public rviz::Display { Q_OBJECT public: TaskDisplay(); void loadRobotModel(); virtual void update(float wall_dt, float ros_dt); virtual void reset(); // overrides from Display virtual void onInitialize(); virtual void onEnable(); virtual void onDisable(); void setName(const QString& name); private Q_SLOTS: /** * \brief Slot Event Functions */ void changedRobotDescription(); void changedTaskMonitorTopic(); void changedTaskSolutionTopic(); void onTasksInserted(const QModelIndex& parent, int first, int last); void onTasksRemoved(const QModelIndex& parent, int first, int last); protected: void updateTaskListModel(); protected: ros::Subscriber task_monitor_sub; ros::Subscriber task_solution_sub; // handle processing of task+solution messages in Qt mainloop moveit::tools::JobQueue mainloop_jobs_; // The trajectory playback component TaskSolutionVisualizationPtr trajectory_visual_; // The TaskListModel storing actual task and solution data TaskListModelPtr task_list_model_; // Load robot model rdf_loader::RDFLoaderPtr rdf_loader_; moveit::core::RobotModelConstPtr robot_model_; // Properties rviz::StringProperty* robot_description_property_; rviz::RosTopicProperty* task_monitor_topic_property_; rviz::RosTopicProperty* task_solution_topic_property_; rviz::Property* tasks_property_; }; } // namespace moveit_rviz_plugin