82 lines
3.0 KiB
C
82 lines
3.0 KiB
C
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/*
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* Copyright (c) 2012, Willow Garage, Inc.
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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 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 copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* 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 "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN 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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#ifndef MYVIZ_H
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#define MYVIZ_H
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#include <QWidget>
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#include<QString>
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#include <QGridLayout>
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#include<ros/ros.h>
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#include"std_msgs/String.h"
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#include<thread>
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namespace rviz
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{
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class Display;
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class RenderPanel;
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class VisualizationManager;
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}
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// BEGIN_TUTORIAL
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// Class "MyViz" implements the top level widget for this example.
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class MyViz: public QWidget
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{
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Q_OBJECT
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public:
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MyViz( QWidget* parent = 0 );
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virtual ~MyViz();
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void subCallback(const std_msgs::String& msg);
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void pubThread();
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private Q_SLOTS: // QT信号和槽
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void setThickness( int thickness_percent );
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void setCellSize( int cell_size_percent );
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void setCloudTopic(const QString &newTopic);
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void setLaserTopic(const QString &newTopic);
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void setCloudSize(int cloudsize);
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void setLaserSize(int lasersize);
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void LaserColorChanged(int index); // 雷达颜色
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void GridColorChanged(int index); // 格栅颜色
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void setFixedFrame(const QString &FixedFrame);
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void setBackgroundColor(const QString& bg_color); // 背景颜色
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void Tree_Display(QGridLayout* layout, int index);
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private:
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rviz::VisualizationManager* manager_; //
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rviz::RenderPanel* render_panel_;
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rviz::Display* grid_;
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rviz::Display* cloud;
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rviz::Display* laser;
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ros::NodeHandle nh;
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ros::Subscriber sub;
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ros::Publisher pub;
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std::thread pub_thread;
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std::vector<QString> color_name; // 颜色的名称集合
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};
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// END_TUTORIAL
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#endif // MYVIZ_H
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