moveit_task_constructor/visualization/motion_planning_tasks/task_display.h

103 lines
3.2 KiB
C++

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/* Author: Dave Coleman
Desc: Wraps a task_solution_visualization playback class for Rviz into a stand alone display
*/
#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TASK_SOLUTION_DISPLAY
#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TASK_SOLUTION_DISPLAY
#include <rviz/display.h>
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <moveit/macros/class_forward.h>
#endif
namespace rviz
{
class StringProperty;
}
namespace moveit { namespace core { MOVEIT_CLASS_FORWARD(RobotModel) } }
namespace rdf_loader { MOVEIT_CLASS_FORWARD(RDFLoader) }
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(TaskSolutionVisualization)
class TaskDisplay : public rviz::Display
{
Q_OBJECT
public:
TaskDisplay();
virtual ~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();
protected:
// The trajectory playback component
TaskSolutionVisualizationPtr trajectory_visual_;
// Load robot model
rdf_loader::RDFLoaderPtr rdf_loader_;
moveit::core::RobotModelConstPtr robot_model_;
bool load_robot_model_; // for delayed robot initialization
// Properties
rviz::StringProperty* robot_description_property_;
};
} // namespace moveit_rviz_plugin
#endif