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TransmitterVisual.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _TRANSMITTERVISUAL_HH_
19 #define _TRANSMITTERVISUAL_HH_
20 
21 #include <string>
22 #include <vector>
23 
25 #include "gazebo/msgs/MessageTypes.hh"
27 
28 namespace gazebo
29 {
30  namespace rendering
31  {
34 
37  class TransmitterVisual : public Visual
38  {
43  public: TransmitterVisual(const std::string &_name, VisualPtr _vis,
44  const std::string &_topicName);
45 
47  public: virtual ~TransmitterVisual();
48 
50  public: virtual void Load();
51 
53  public: virtual void Update();
54 
57  private: void OnNewPropagationGrid(ConstPropagationGridPtr &_msg);
58 
60  private: transport::NodePtr node;
61 
63  private: transport::SubscriberPtr signalPropagationSub;
64 
66  private: DynamicLines *points;
67 
70  private: bool isFirst;
71 
73  private: std::vector<rendering::VisualPtr> vectorLink;
74 
76  private: std::vector<event::ConnectionPtr> connections;
77 
79  private: boost::mutex mutex;
80 
82  private: boost::shared_ptr<msgs::PropagationGrid const> gridMsg;
83 
85  private: bool receivedMsg;
86  };
88  }
89 }
90 #endif