MapDisplay::MapDisplay()
: Display()
, manual_object_( NULL )
, loaded_( false )
, resolution_( 0.0f )
, width_( 0 )
, height_( 0 )
{
connect(this, SIGNAL( mapUpdated() ), this, SLOT( showMap() ));
topic_property_ = new RosTopicProperty( "Topic", "",
QString::fromStdString( ros::message_traits::datatype<nav_msgs::OccupancyGrid>() ),
"nav_msgs::OccupancyGrid topic to subscribe to.",
this, SLOT( updateTopic() ));
alpha_property_ = new FloatProperty( "Alpha", 0.7,
"Amount of transparency to apply to the map.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0 );
alpha_property_->setMax( 1 );
color_scheme_property_ = new EnumProperty( "Color Scheme", "map", "How to color the occupancy values.",
this, SLOT( updatePalette() ));
// Option values here must correspond to indices in palette_textures_ array in onInitialize() below.
color_scheme_property_->addOption( "map", 0 );
color_scheme_property_->addOption( "costmap", 1 );
draw_under_property_ = new Property( "Draw Behind", false,
"Rendering option, controls whether or not the map is always"
" drawn behind everything else.",
this, SLOT( updateDrawUnder() ));
resolution_property_ = new FloatProperty( "Resolution", 0,
"Resolution of the map. (not editable)", this );
resolution_property_->setReadOnly( true );
width_property_ = new IntProperty( "Width", 0,
"Width of the map, in meters. (not editable)", this );
width_property_->setReadOnly( true );
height_property_ = new IntProperty( "Height", 0,
"Height of the map, in meters. (not editable)", this );
height_property_->setReadOnly( true );
position_property_ = new VectorProperty( "Position", Ogre::Vector3::ZERO,
"Position of the bottom left corner of the map, in meters. (not editable)",
this );
position_property_->setReadOnly( true );
orientation_property_ = new QuaternionProperty( "Orientation", Ogre::Quaternion::IDENTITY,
"Orientation of the map. (not editable)",
this );
orientation_property_->setReadOnly( true );
}
AerialMapDisplay::AerialMapDisplay()
: Display(), map_id_(0), scene_id_(0), dirty_(false),
received_msg_(false), loader_(0) {
static unsigned int map_ids = 0;
map_id_ = map_ids++; // global counter of map ids
topic_property_ = new RosTopicProperty(
"Topic", "", QString::fromStdString(
ros::message_traits::datatype<sensor_msgs::NavSatFix>()),
"nav_msgs::Odometry topic to subscribe to.", this, SLOT(updateTopic()));
alpha_property_ = new FloatProperty(
"Alpha", 0.7, "Amount of transparency to apply to the map.", this,
SLOT(updateAlpha()));
alpha_ = alpha_property_->getValue().toFloat();
alpha_property_->setMin(0);
alpha_property_->setMax(1);
alpha_property_->setShouldBeSaved(true);
draw_under_property_ =
new Property("Draw Behind", false,
"Rendering option, controls whether or not the map is always"
" drawn behind everything else.",
this, SLOT(updateDrawUnder()));
draw_under_property_->setShouldBeSaved(true);
draw_under_ = draw_under_property_->getValue().toBool();
// output, resolution of the map in meters/pixel
resolution_property_ = new FloatProperty(
"Resolution", 0, "Resolution of the map. (Read only)", this);
resolution_property_->setReadOnly(true);
// properties for map
object_uri_property_ = new StringProperty(
"Object URI", "http://otile1.mqcdn.com/tiles/1.0.0/sat/{z}/{x}/{y}.jpg",
"URL from which to retrieve map tiles.", this, SLOT(updateObjectURI()));
object_uri_property_->setShouldBeSaved(true);
object_uri_ = object_uri_property_->getStdString();
zoom_property_ = new IntProperty("Zoom", 16, "Zoom level (0 - 19 usually)",
this, SLOT(updateZoom()));
zoom_property_->setShouldBeSaved(true);
zoom_ = zoom_property_->getInt();
blocks_property_ =
new IntProperty("Blocks", 3, "Number of adjacent blocks (6 max)", this,
SLOT(updateBlocks()));
blocks_property_->setShouldBeSaved(true);
// updating one triggers reload
updateBlocks();
}