rvizwidget.h

// Incorporates a RViz display
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef RVIZWIDGET_H
#define RVIZWIDGET_H

#include <rviz/visualization_frame.h>
#include <rviz/render_panel.h>
#include <rviz/default_plugin/marker_display.h>
#include <trajectory_editor/mymarkerdisplay.h>

#include <ros/publisher.h>
#include <sensor_msgs/JointState.h>
#include <urdf/model.h>

namespace rviz
{
    class VisualizationManager;
}

class RobotDisplay;

class RVizWidget : public rviz::RenderPanel
{
Q_OBJECT
public:
    explicit RVizWidget(QWidget* parent = 0);
    virtual ~RVizWidget();

    void initialize(ros::NodeHandle* nh);

    inline boost::shared_ptr<urdf::Model> getModel() {return m_model;}
    inline RobotDisplay* getRobot() {return m_robot;}
    
    void test(const visualization_msgs::Marker::ConstPtr& msg);
    void setCameraPosition();
    
public Q_SLOTS:
    void setModel(std::string path_to_model);
    void setModel(std::string path_to_model, std::vector<std::string> &new_joint_list);
    void updateRobotDisplay(std::vector<std::string> &joint_list, std::vector<double> &joint_positions);

private:
    rviz::VisualizationManager* m_manager;
    boost::shared_ptr<urdf::Model> m_model;
    RobotDisplay* m_robot;
    
    MyMarkerDisplay     *myDisplay;
    rviz::MarkerDisplay *markerDisplay;
    ros::NodeHandle n;
    ros::Subscriber sub;
};

#endif