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rviz_interface/rviz_interface/src/InteractiveObject.cpp

@@ -1,3 +1,9 @@
+/*
+ * Rviz interactive object.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : RvizInterface.cpp/.hpp
+ */
+
 #include "InteractiveObject.hpp"
 
 unsigned int InteractiveObject::nextObjectID = 1;

rviz_interface/rviz_interface/src/InteractiveObject.hpp

@@ -1,3 +1,9 @@
+/*
+ * Rviz interactive object.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : RvizInterface.cpp/.hpp
+ */
+
 #ifndef INTERACTIVEOBJECT_HPP
 #define INTERACTIVEOBJECT_HPP
 

rviz_interface/rviz_interface/src/InterfacePanel.cpp

@@ -1,35 +1,21 @@
+/*
+ * Rviz panel for the configuration of the RvizInterface.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : RvizInterface.cpp/.hpp
+ */
+
 #include "InterfacePanel.hpp"
 
 namespace rviz_interface
 {
 
-// BEGIN_TUTORIAL
-// Here is the implementation of the InterfacePanel class.  InterfacePanel
-// has these responsibilities:
-//
-// - Act as a container for GUI elements DriveWidget and QLineEdit.
-// - Publish command velocities 10 times per second (whether 0 or not).
-// - Saving and restoring internal state from a config file.
-//
-// We start with the constructor, doing the standard Qt thing of
-// passing the optional *parent* argument on to the superclass
-// constructor, and also zero-ing the velocities we will be
-// publishing.
 InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
 {
-  // Next we lay out the "output topic" text entry field using a
-  // QLabel and a QLineEdit in a QHBoxLayout.
   QHBoxLayout* error_layout = new QHBoxLayout;
   error_layout->addWidget( new QLabel( "Max Error:" ));
   _max_error_editor = new QLineEdit;
-  // max_error_editor->setValidator( new QDoubleValidator(0,MAX_ERROR,1000,max_error_editor)); // Ne gère pas les exceptions tout seul (retourne QValidator::Intermediate pour les valeurs hors bornes)
-  error_layout->addWidget( _max_error_editor );
-  //setLayout( error_layout );
+   error_layout->addWidget( _max_error_editor );
 
-  // Then create the control widget.
-  // drive_widget_ = new DriveWidget;
-
-  // Lay out the topic field above the control widget.
   QVBoxLayout* layout = new QVBoxLayout;
   _objective_type_editor = new QCheckBox( "Precise Objective" );
   _show_visuals_editor = new QCheckBox( "Show Visuals" );
@@ -41,29 +27,14 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
   layout->addWidget( _show_visuals_editor );
   setLayout( layout );
 
-  // Create a timer for sending the output.  Motor controllers want to
-  // be reassured frequently that they are doing the right thing, so
-  // we keep re-sending velocities even when they aren't changing.
-  // 
-  // Here we take advantage of QObject's memory management behavior:
-  // since "this" is passed to the new QTimer as its parent, the
-  // QTimer is deleted by the QObject destructor when this InterfacePanel
-  // object is destroyed.  Therefore we don't need to keep a pointer
-  // to the timer.
-  // QTimer* output_timer = new QTimer( this );
 
   // Next we make signal/slot connections.
   connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
   connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) ));
   connect(_reset_button, SIGNAL (released()), this, SLOT (handleResetButton()));
   connect( _show_visuals_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateVisuals(int) ));
-  // connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
 
-  // Start the timer.
-  // output_timer->start( 100 );
-
-  // Make the control widget start disabled, since we don't start with an output topic.
-  // drive_widget_->setEnabled( false );
+  //Error editor disabled by default
   _max_error_editor->setEnabled( false );
 
   _config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
@@ -75,10 +46,7 @@ InterfacePanel::~InterfacePanel()
   delete _objective_type_editor;
 }
 
-// Read the topic name from the QLineEdit and call setTopic() with the
-// results.  This is connected to QLineEdit::editingFinished() which
-// fires when the user presses Enter or Tab or otherwise moves focus
-// away.
+//Update the error in the current_configuration & publish the configuration.
 void InterfacePanel::updateError()
 {
   current_config.max_error = _max_error_editor->text().toDouble();
@@ -89,6 +57,7 @@ void InterfacePanel::updateError()
   }
 }
 
+//Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
 void InterfacePanel::updateType(int state)
 {
   current_config.objective_type = state;
@@ -107,6 +76,7 @@ void InterfacePanel::updateType(int state)
   }
 }
 
+//Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
 void InterfacePanel::updateVisuals(int state)
 {
   current_config.show_visuals = state;
@@ -116,6 +86,7 @@ void InterfacePanel::updateVisuals(int state)
   }
 }
 
+//Send a signal through the configuration telling the subscriber to follow the object it's linked to.
 void InterfacePanel::handleResetButton()
 {
   current_config.follow_object = true;
@@ -126,15 +97,6 @@ void InterfacePanel::handleResetButton()
   current_config.follow_object = false;
 }
 
-// void InterfacePanel::setError( const QString& error )
-// {
-//   current_config.max_error = error.toDouble();
-//   if( ros::ok() && _config_publisher )
-//   {
-//     _config_publisher.publish( current_config );
-//   }
-// }
-
 // Save all configuration data from this panel to the given
 // Config object.  It is important here that you call save()
 // on the parent class so the class id and panel name get saved.

rviz_interface/rviz_interface/src/InterfacePanel.hpp

@@ -1,3 +1,9 @@
+/*
+ * Rviz panel for the configuration of the RvizInterface.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : RvizInterface.cpp/.hpp
+ */
+
 #ifndef INTERFACE_PANEL_HPP
 #define INTERFACE_PANEL_HPP
 
@@ -27,24 +33,13 @@ class QLineEdit;
 
 namespace rviz_interface
 {
-// 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 InterfacePanel: 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.
   InterfacePanel( QWidget* parent = 0 );
   ~InterfacePanel();
 
@@ -57,42 +52,30 @@ public:
   // Next come a couple of public Qt slots.
 public Q_SLOTS:
 
-	// void setError( const QString& error );
-
   // Here we declare some internal slots.
 protected Q_SLOTS:
 
 
-  void updateError();
-  void updateType(int state);
-  void updateVisuals(int state);
-  void handleResetButton();
+  void updateError(); //Update the error in the current_configuration & publish the configuration.
+  void updateType(int state); //Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
+  void updateVisuals(int state); //Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
+  void handleResetButton(); //Send a signal through the configuration telling the subscriber to follow the object it's linked to.
 
-
-  // Then we finish up with protected member variables.
 protected:
 
-  rviz_interface::InterfaceConfig current_config;
+  rviz_interface::InterfaceConfig current_config; //Current configuration which is sent at every interaction with the panel.
 
-  // One-line text editor for entering the outgoing ROS topic name.
-  QLineEdit* _max_error_editor;
-  QCheckBox* _objective_type_editor;
-  QCheckBox* _show_visuals_editor;
-  QPushButton* _reset_button;
+  QLineEdit* _max_error_editor; //Line editor used to let user cusomize the maximum error allowed.
+  QCheckBox* _objective_type_editor; //CheckBox used to modify the objective type.
+  QCheckBox* _show_visuals_editor; //CheckBox used to choose if the error area should be shown.
+  QPushButton* _reset_button; //Button to reattach a marker to it's linked object.
 
-  // The current name of the output topic.
-  // QString _max_error;
-
-  // The ROS publisher for the command velocity.
+  //Publisher
   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

rviz_interface/rviz_interface/src/RvizInterface.cpp

@@ -1,3 +1,10 @@
+/*
+ * Rviz interface to send objective.
+ * Composed of 3D marker and a configuration panel.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
+ */
+
 #include "RvizInterface.hpp"
 
 //Constructeur
@@ -86,6 +93,7 @@ void RvizInterface::configCallback(const rviz_interface::InterfaceConfig & new_c
 // 	}
 // }
 
+//Fonction callback gérant la position des objets
 void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_center)
 {
 	for(unsigned int i=0;i<_objects.size();i++)
@@ -107,6 +115,7 @@ void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_cent
 	}
 }
 
+//RvizInterface node.
 int main(int argc, char **argv)
 {
   //Initiate ROS

rviz_interface/rviz_interface/src/RvizInterface.hpp

@@ -1,3 +1,10 @@
+/*
+ * Rviz interface to send objective.
+ * Composed of 3D marker and a configuration panel.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
+ */
+
 #ifndef RVIZINTERFACE_HPP
 #define RVIZINTERFACE_HPP
 
@@ -38,8 +45,7 @@ public:
 	//Fonction Callback du panel Rviz gérant les configurations
 	void configCallback(const rviz_interface::InterfaceConfig & new_config);
 
-	//Fonction callback gérant la position de l'objet
-	//PROVISOIRE : Pour un seul objet avec test PCL
+	//Fonction callback gérant la position des objets
 	void positionCallback(const rviz_interface::NamedPoint & new_center);
 };