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Remove unused widget code #35

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Remove unused widget code #35

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1 change: 0 additions & 1 deletion mav_planning_rviz/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@ set(SRC_FILES
src/planning_panel.cpp
src/pose_widget.cpp
src/edit_button.cpp
src/planning_interactive_markers.cpp
src/goal_marker.cpp
)

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65 changes: 0 additions & 65 deletions mav_planning_rviz/include/mav_planning_rviz/planning_interactive_markers.h
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5 changes: 2 additions & 3 deletions mav_planning_rviz/include/mav_planning_rviz/planning_panel.h
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Expand Up @@ -8,9 +8,10 @@
#include <QGroupBox>
#include "mav_planning_rviz/edit_button.h"
#include "mav_planning_rviz/goal_marker.h"
#include "mav_planning_rviz/planning_interactive_markers.h"
#include "mav_planning_rviz/pose_widget.h"
#include "planner_msgs/NavigationStatus.h"
#include <mav_msgs/conversions.h>
#include <mav_msgs/eigen_mav_msgs.h>
#endif

enum PLANNER_STATE { HOLD = 1, NAVIGATE = 2, ROLLOUT = 3, ABORT = 4, RETURN = 5 };
Expand Down Expand Up @@ -123,8 +124,6 @@ class PlanningPanel : public rviz::Panel {
// Keep track of all the pose <-> button widgets as they're related:
std::map<std::string, PoseWidget*> pose_widget_map_;
std::map<std::string, EditButton*> edit_button_map_;
// ROS state:
PlanningInteractiveMarkers interactive_markers_;

// QT state:
QString namespace_;
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134 changes: 0 additions & 134 deletions mav_planning_rviz/src/planning_interactive_markers.cpp
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27 changes: 2 additions & 25 deletions mav_planning_rviz/src/planning_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <planner_msgs/SetService.h>
#include <planner_msgs/SetString.h>
#include <planner_msgs/SetVector3.h>
#include <geometry_msgs/PoseStamped.h>

#include "mav_planning_rviz/edit_button.h"
#include "mav_planning_rviz/goal_marker.h"
Expand All @@ -31,25 +32,14 @@

namespace mav_planning_rviz {

PlanningPanel::PlanningPanel(QWidget* parent) : rviz::Panel(parent), nh_(ros::NodeHandle()), interactive_markers_(nh_) {
PlanningPanel::PlanningPanel(QWidget* parent) : rviz::Panel(parent), nh_(ros::NodeHandle()) {
createLayout();
goal_marker_ = std::make_shared<GoalMarker>(nh_);
planner_state_sub_ = nh_.subscribe("/planner_status", 1, &PlanningPanel::plannerstateCallback, this,
ros::TransportHints().tcpNoDelay());
}

void PlanningPanel::onInitialize() {
interactive_markers_.initialize();
interactive_markers_.setPoseUpdatedCallback(
std::bind(&PlanningPanel::updateInteractiveMarkerPose, this, std::placeholders::_1));

interactive_markers_.setFrameId(vis_manager_->getFixedFrame().toStdString());
// Initialize all the markers.
for (const auto& kv : pose_widget_map_) {
mav_msgs::EigenTrajectoryPoint pose;
kv.second->getPose(&pose);
interactive_markers_.enableMarker(kv.first, pose);
}
}

void PlanningPanel::createLayout() {
Expand Down Expand Up @@ -260,18 +250,11 @@ void PlanningPanel::startEditing(const std::string& id) {
if (search == pose_widget_map_.end()) {
return;
}
// Update fixed frame (may have changed since last time):
interactive_markers_.setFrameId(vis_manager_->getFixedFrame().toStdString());
mav_msgs::EigenTrajectoryPoint pose;
search->second->getPose(&pose);
interactive_markers_.enableSetPoseMarker(pose);
interactive_markers_.disableMarker(id);
}

void PlanningPanel::finishEditing(const std::string& id) {
if (currently_editing_ == id) {
currently_editing_.clear();
interactive_markers_.disableSetPoseMarker();
}
auto search = pose_widget_map_.find(id);
if (search == pose_widget_map_.end()) {
Expand All @@ -280,7 +263,6 @@ void PlanningPanel::finishEditing(const std::string& id) {
ros::spinOnce();
mav_msgs::EigenTrajectoryPoint pose;
search->second->getPose(&pose);
interactive_markers_.enableMarker(id, pose);
}

void PlanningPanel::registerPoseWidget(PoseWidget* widget) {
Expand Down Expand Up @@ -331,10 +313,6 @@ void PlanningPanel::updateInteractiveMarkerPose(const mav_msgs::EigenTrajectoryP
}

void PlanningPanel::widgetPoseUpdated(const std::string& id, mav_msgs::EigenTrajectoryPoint& pose) {
if (currently_editing_ == id) {
interactive_markers_.setPose(pose);
}
interactive_markers_.updateMarkerPose(id, pose);
}

void PlanningPanel::callPlannerService() {
Expand Down Expand Up @@ -604,7 +582,6 @@ void PlanningPanel::odometryCallback(const nav_msgs::Odometry& msg) {
point.position_W = odometry.position_W;
point.orientation_W_B = odometry.orientation_W_B;
pose_widget_map_["start"]->setPose(point);
interactive_markers_.updateMarkerPose("start", point);
}
}

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