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https://github.com/introlab/rtabmap_ros.git
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matlabbe
b4add8dbe8
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83
55 lines
1.1 KiB
C++
55 lines
1.1 KiB
C++
/*
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* GuiWrapper.h
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*
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* Created on: 4 févr. 2010
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* Author: labm2414
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*/
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#ifndef GUIWRAPPER_H_
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#define GUIWRAPPER_H_
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#include <ros/ros.h>
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#include "rtabmap/RtabmapInfo.h"
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#include "rtabmap/RtabmapInfoEx.h"
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#include "utilite/UEventsHandler.h"
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namespace rtabmap
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{
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class MainWindow;
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}
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class QApplication;
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class GuiWrapper : public UEventsHandler
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{
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public:
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GuiWrapper(int & argc, char** argv);
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virtual ~GuiWrapper();
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int exec();
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protected:
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virtual void handleEvent(UEvent * anEvent);
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private:
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void infoReceivedCallback(const rtabmap::RtabmapInfoConstPtr & infoMsg);
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void infoExReceivedCallback(const rtabmap::RtabmapInfoExConstPtr & infoExMsg);
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private:
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ros::NodeHandle nh_;
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ros::Subscriber infoTopic_;
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ros::Subscriber infoExTopic_;
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QApplication * app_;
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rtabmap::MainWindow * mainWindow_;
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ros::ServiceClient resetMemoryClient_;
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ros::ServiceClient dumpMemoryClient_;
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ros::ServiceClient changeCameraImgRateClient_;
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ros::ServiceClient deleteMemoryClient_;
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ros::ServiceClient dumpPredictionClient_;
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ros::Publisher parametersUpdatedPub_;
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};
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#endif /* GUIWRAPPER_H_ */
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