PointCloud.hh

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/*
 * Copyright (C) 2022 Open Source Robotics 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.
 *
 */
 
#ifndef GZ_GUI_PLUGINS_POINTCLOUD_HH_
#define GZ_GUI_PLUGINS_POINTCLOUD_HH_
 
#include <memory>
 
#include <gz/msgs/float_v.pb.h>
#include <gz/msgs/pointcloud_packed.pb.h>
 
#include "gz/gui/Plugin.hh"
 
namespace gz::gui::plugins
{
  class PointCloudPrivate;
 
  class PointCloud : public gz::gui::Plugin
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QStringList pointCloudTopicList
      READ PointCloudTopicList
      WRITE SetPointCloudTopicList
      NOTIFY PointCloudTopicListChanged
    )
 
    
    Q_PROPERTY(
      QStringList floatVTopicList
      READ FloatVTopicList
      WRITE SetFloatVTopicList
      NOTIFY FloatVTopicListChanged
    )
 
    Q_PROPERTY(
      QColor minColor
      READ MinColor
      WRITE SetMinColor
      NOTIFY MinColorChanged
    )
 
    Q_PROPERTY(
      QColor maxColor
      READ MaxColor
      WRITE SetMaxColor
      NOTIFY MaxColorChanged
    )
 
    Q_PROPERTY(
      float minFloatV
      READ MinFloatV
      WRITE SetMinFloatV
      NOTIFY MinFloatVChanged
    )
 
    Q_PROPERTY(
      float maxFloatV
      READ MaxFloatV
      WRITE SetMaxFloatV
      NOTIFY MaxFloatVChanged
    )
 
    Q_PROPERTY(
      float pointSize
      READ PointSize
      WRITE SetPointSize
      NOTIFY PointSizeChanged
    )
 
    public: PointCloud();
 
    public: ~PointCloud() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    public: void OnPointCloud(const msgs::PointCloudPacked &_msg);
 
    public: void OnPointCloudService(const msgs::PointCloudPacked &_msg,
        bool _result);
 
    public: Q_INVOKABLE QStringList PointCloudTopicList() const;
 
    public: Q_INVOKABLE void SetPointCloudTopicList(
        const QStringList &_pointCloudTopicList);
 
    signals: void PointCloudTopicListChanged();
 
    public: Q_INVOKABLE void OnPointCloudTopic(const QString &_topicName);
 
    public: void OnFloatV(const msgs::Float_V &_msg);
 
    public: void OnFloatVService(const msgs::Float_V &_msg, bool _result);
 
    public: Q_INVOKABLE QStringList FloatVTopicList() const;
 
    public: Q_INVOKABLE void SetFloatVTopicList(
        const QStringList &_floatVTopicList);
 
    signals: void FloatVTopicListChanged();
 
    public: Q_INVOKABLE void OnFloatVTopic(const QString &_topicName);
 
    public: Q_INVOKABLE QColor MinColor() const;
 
    public: Q_INVOKABLE void SetMinColor(const QColor &_minColor);
 
    signals: void MinColorChanged();
 
    public: Q_INVOKABLE QColor MaxColor() const;
 
    public: Q_INVOKABLE void SetMaxColor(const QColor &_maxColor);
 
    signals: void MaxColorChanged();
 
    public: Q_INVOKABLE float MinFloatV() const;
 
    public: Q_INVOKABLE void SetMinFloatV(float _minFloatV);
 
    signals: void MinFloatVChanged();
 
    public: Q_INVOKABLE float MaxFloatV() const;
 
    public: Q_INVOKABLE void SetMaxFloatV(float _maxFloatV);
 
    signals: void MaxFloatVChanged();
 
    public: Q_INVOKABLE float PointSize() const;
 
    public: Q_INVOKABLE void SetPointSize(float _pointSize);
 
    signals: void PointSizeChanged();
 
    public: Q_INVOKABLE void Show(bool _show);
 
    public: Q_INVOKABLE void OnRefresh();
 
    private: std::unique_ptr<PointCloudPrivate> dataPtr;
  };
}  // namespace gz::gui::plugins
 
#endif  // GZ_GUI_PLUGINS_POINTCLOUD_HH_