// In a tool's load() function, we don't need to read its class
// because that has already been read and used to instantiate the
// object before this can have been called.
void FlagTool3D::load( const rviz::Config& config )
{
// Here we get the "Flags" sub-config from the tool config and loop over its entries:
rviz::Config flags_config = config.mapGetChild( "Flags" );
int num_flags = flags_config.listLength();
for( int i = 0; i < num_flags; i++ )
{
rviz::Config flag_config = flags_config.listChildAt( i );
// At this point each ``flag_config`` represents a single flag.
//
// Here we provide a default name in case the name is not in the config file for some reason:
QString name = "Flag " + QString::number( i + 1 );
// Then we use the convenience function mapGetString() to read the
// name from ``flag_config`` if it is there. (If no "Name" entry
// were present it would return false, but we don't care about
// that because we have already set a default.)
flag_config.mapGetString( "Name", &name );
// Given the name we can create an rviz::VectorProperty to display the position:
rviz::VectorProperty* prop = new rviz::VectorProperty( name );
// Then we just tell the property to read its contents from the config, and we've read all the data.
prop->load( flag_config );
// We finish each flag by marking it read-only (as discussed
// above), adding it to the property container, and finally making
// an actual visible flag object in the 3D scene at the correct
// position.
prop->setReadOnly( true );
getPropertyContainer()->addChild( prop );
makeFlag( prop->getVector() );
}
}
// Load all configuration data for this panel from the given Config object.
void CancelAction::load( const rviz::Config& config )
{
rviz::Panel::load( config );
rviz::Config topic_list_config = config.mapGetChild( "topics" );
int num_topics = topic_list_config.listLength();
for( int i = 0; i < num_topics; i++ ) {
addTopicList(topic_list_config.listChildAt( i ).getValue().toString().toStdString());
}
}