geofence_display.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
/*
 * Geofence display for geometry_msgs::msg::PolygonStamped
 */
 
#ifndef RVIZ_PLUGINS__DISPLAYS__GEOFENCE__GEOFENCE_DISPLAY_HPP_
#define RVIZ_PLUGINS__DISPLAYS__GEOFENCE__GEOFENCE_DISPLAY_HPP_
 
#include "geometry_msgs/msg/polygon_stamped.hpp"
 
#include "rviz_common/message_filter_display.hpp"
 
#include "rviz_plugins/visibility_control.hpp"
 
namespace Ogre {
class ManualObject;
}
 
namespace rviz_common {
namespace properties {
class ColorProperty;
class FloatProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace rviz_plugins {
namespace displays {
 
class RVIZ_PLUGINS_PUBLIC GeofenceDisplay : public rviz_common::MessageFilterDisplay<geometry_msgs::msg::PolygonStamped> {
  Q_OBJECT
 
 public:
  GeofenceDisplay();
 
  ~GeofenceDisplay() override;
 
  void onInitialize() override;
 
  void reset() override;
 
 protected:
  void processMessage(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg) override;
 
 private:
  Ogre::ManualObject* manual_object_;
  Ogre::MaterialPtr material_;
 
  // Properties
  rviz_common::properties::ColorProperty* color_property_;
  rviz_common::properties::FloatProperty* bottom_alpha_property_;
  rviz_common::properties::FloatProperty* top_alpha_property_;
  rviz_common::properties::FloatProperty* height_property_;
  rviz_common::properties::FloatProperty* thickness_property_;
};
 
}  // namespace displays
}  // namespace rviz_plugins
 
#endif  // RVIZ_PLUGINS__DISPLAYS__GEOFENCE__GEOFENCE_DISPLAY_HPP_