mirror of
https://github.com/moveit/moveit_task_constructor.git
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103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015, University of Colorado, Boulder
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Univ of CO, Boulder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Dave Coleman
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Desc: Wraps a task_solution_visualization playback class for Rviz into a stand alone display
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*/
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#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TASK_SOLUTION_DISPLAY
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#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TASK_SOLUTION_DISPLAY
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#include <rviz/display.h>
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#ifndef Q_MOC_RUN
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#include <ros/ros.h>
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#include <moveit/macros/class_forward.h>
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#endif
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namespace rviz
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{
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class StringProperty;
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}
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namespace moveit { namespace core { MOVEIT_CLASS_FORWARD(RobotModel) } }
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namespace rdf_loader { MOVEIT_CLASS_FORWARD(RDFLoader) }
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namespace moveit_rviz_plugin
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{
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MOVEIT_CLASS_FORWARD(TaskSolutionVisualization)
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class TaskDisplay : public rviz::Display
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{
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Q_OBJECT
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public:
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TaskDisplay();
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virtual ~TaskDisplay();
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void loadRobotModel();
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virtual void update(float wall_dt, float ros_dt);
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virtual void reset();
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// overrides from Display
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virtual void onInitialize();
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virtual void onEnable();
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virtual void onDisable();
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void setName(const QString& name);
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private Q_SLOTS:
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/**
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* \brief Slot Event Functions
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*/
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void changedRobotDescription();
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protected:
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// The trajectory playback component
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TaskSolutionVisualizationPtr trajectory_visual_;
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// Load robot model
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rdf_loader::RDFLoaderPtr rdf_loader_;
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moveit::core::RobotModelConstPtr robot_model_;
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bool load_robot_model_; // for delayed robot initialization
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// Properties
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rviz::StringProperty* robot_description_property_;
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};
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} // namespace moveit_rviz_plugin
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#endif
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