rviz_widget.h

#ifndef RVIZ_WIDGET_H
#define RVIZ_WIDGET_H
 
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
 
#include <yaml-cpp/yaml.h>
 
class RvizWidget : public QWidget
{
 
    Q_OBJECT
 
public:
 
    RvizWidget(QWidget * parent = nullptr);
 
    //bool init(Args&);
    void update();
    QString name();
 
    //~RvizWidget();
 
private:
 
    rviz::VisualizationManager* _manager;
    rviz::RenderPanel* _render_panel;
    rviz::Display* _robot_model;
    rviz::Display* _robot_marker_array;
 
 
    // QWidget interface
protected:
    void contextMenuEvent(QContextMenuEvent* event) override;
 
    // CustomQtWidget interface
public:
    bool loadConfig(const YAML::Node& cfg);
    bool saveConfig(YAML::Node& cfg);
    bool usesOpenGl();
};
 
#endif // RVIZ_WIDGET_H