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rviz_interface/interface_tests/src/panel_test.hpp

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+#ifndef PANEL_TEST_HPP
+#define PANEL_TEST_HPP
+
+//#ifndef Q_MOC_RUN
+# include <ros/ros.h>
+
+# include <rviz/panel.h>
+//#endif
+
+#include <stdio.h>
+
+#include <QPainter>
+#include <QLineEdit>
+// #include <QDoubleValidator>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QTimer>
+
+#include <interface_tests/InterfaceConfigT.h>
+
+#define MAX_ERROR 999999999
+
+class QLineEdit;
+
+namespace interface_tests
+{
+// BEGIN_TUTORIAL
+// Here we declare our new subclass of rviz::Panel.  Every panel which
+// can be added via the Panels/Add_New_Panel menu is a subclass of
+// rviz::Panel.
+//
+class TestPanel: public rviz::Panel
+{
+// This class uses Qt slots and is a subclass of QObject, so it needs
+// the Q_OBJECT macro.
+Q_OBJECT
+public:
+  // QWidget subclass constructors usually take a parent widget
+  // parameter (which usually defaults to 0).  At the same time,
+  // pluginlib::ClassLoader creates instances by calling the default
+  // constructor (with no arguments).  Taking the parameter and giving
+  // a default of 0 lets the default constructor work and also lets
+  // someone using the class for something else to pass in a parent
+  // widget as they normally would with Qt.
+  TestPanel( QWidget* parent = 0 );
+
+  // Now we declare overrides of rviz::Panel functions for saving and
+  // loading data from the config file.  Here the data is the
+  // topic name.
+  virtual void load( const rviz::Config& config );
+  virtual void save( rviz::Config config ) const;
+
+  // Next come a couple of public Qt slots.
+public Q_SLOTS:
+  // The control area, DriveWidget, sends its output to a Qt signal
+  // for ease of re-use, so here we declare a Qt slot to receive it.
+  // void setVel( float linear_velocity_, float angular_velocity_ );
+
+  // In this example setTopic() does not get connected to any signal
+  // (it is called directly), but it is easy to define it as a public
+  // slot instead of a private function in case it would be useful to
+  // some other user.
+  // void setTopic( const QString& topic );
+	void setError( const QString& error );
+
+  // Here we declare some internal slots.
+protected Q_SLOTS:
+  // sendvel() publishes the current velocity values to a ROS
+  // topic.  Internally this is connected to a timer which calls it 10
+  // times per second.
+  // void sendVel();
+
+  // updateError() reads the topic name from the QLineEdit and calls
+  // setTopic() with the result.
+  void updateError();
+
+  // Then we finish up with protected member variables.
+protected:
+
+  // One-line text editor for entering the outgoing ROS topic name.
+  QLineEdit* max_error_editor;
+
+  // The current name of the output topic.
+  QString output_topic_;
+
+  // The ROS publisher for the command velocity.
+  ros::Publisher _config_publisher;
+
+  // The ROS node handle.
+  ros::NodeHandle nh_;
+
+  // The latest velocity values from the drive widget.
+  // float linear_velocity_;
+  // float angular_velocity_;
+  // END_TUTORIAL
+};
+
+} // end namespace rviz_plugin_tutorials
+
+#endif