trajectory_display.hpp

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// Copyright 2019 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.

#ifndef PLANNING__TRAJECTORY_DISPLAY_HPP_
#define PLANNING__TRAJECTORY_DISPLAY_HPP_

#include <rviz_common/display.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_default_plugins/displays/marker/marker_common.hpp>
#include <rviz_default_plugins/displays/marker_array/marker_array_display.hpp>
#include <autoware_auto_msgs/msg/trajectory.hpp>
#include <visibility_control.hpp>
#include <common/types.hpp>
#include <memory>

using autoware::common::types::float32_t;

namespace autoware
{
namespace rviz_plugins
{

class AUTOWARE_RVIZ_PLUGINS_PUBLIC TrajectoryDisplay
  : public rviz_common::RosTopicDisplay<autoware_auto_msgs::msg::Trajectory>
{
  Q_OBJECT

public:
  TrajectoryDisplay();
  void onInitialize() override;
  void load(const rviz_common::Config & config) override;
  void update(float32_t wall_dt, float32_t ros_dt) override;
  void reset() override;

private Q_SLOTS:
  void updateProperty();

private:
  using MarkerCommon = rviz_default_plugins::displays::MarkerCommon;
  using Marker = visualization_msgs::msg::Marker;
  using Trajectory = autoware_auto_msgs::msg::Trajectory;
  using TrajectoryPoint = autoware_auto_msgs::msg::TrajectoryPoint;

  // Convert boxes into markers, push them to the display queue
  void processMessage(Trajectory::ConstSharedPtr msg) override;
  // Convert trajectory message to a marker message
  Marker::SharedPtr create_pose_marker(const TrajectoryPoint & point) const;
  Marker::SharedPtr create_velocity_marker(const TrajectoryPoint & point) const;

  std::unique_ptr<MarkerCommon> m_marker_common;
  Trajectory::ConstSharedPtr msg_cache{};
  rviz_common::properties::ColorProperty * color_property_;
  rviz_common::properties::FloatProperty * alpha_property_;
  rviz_common::properties::FloatProperty * scale_property_;
  rviz_common::properties::FloatProperty * text_alpha_property_;
  rviz_common::properties::FloatProperty * text_scale_property_;
};
}  // namespace rviz_plugins
}  // namespace autoware

#endif  // PLANNING__TRAJECTORY_DISPLAY_HPP_