.. _program_listing_file_include_turtlesim_turtle.hpp:

Program Listing for File turtle.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_turtlesim_turtle.hpp>` (``include/turtlesim/turtle.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2009, Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef TURTLESIM__TURTLE_HPP_
   #define TURTLESIM__TURTLE_HPP_
   
   // This prevents a MOC error with versions of boost >= 1.48
   #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
   # include <rclcpp/rclcpp.hpp>
   # include <rclcpp_action/rclcpp_action.hpp>
   
   # include <geometry_msgs/msg/twist.hpp>
   # include <turtlesim_msgs/action/rotate_absolute.hpp>
   # include <turtlesim_msgs/msg/color.hpp>
   # include <turtlesim_msgs/msg/pose.hpp>
   # include <turtlesim_msgs/srv/set_pen.hpp>
   # include <turtlesim_msgs/srv/teleport_absolute.hpp>
   # include <turtlesim_msgs/srv/teleport_relative.hpp>
   #endif
   
   #include <QImage>
   #include <QPainter>
   #include <QPen>
   #include <QPointF>
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #define PI 3.14159265
   #define TWO_PI 2.0 * PI
   
   namespace turtlesim
   {
   class Turtle
   {
   public:
     using RotateAbsoluteGoalHandle = rclcpp_action::ServerGoalHandle<
       turtlesim_msgs::action::RotateAbsolute>;
   
     Turtle(
       rclcpp::Node::SharedPtr & nh, const std::string & real_name, const QImage & turtle_image,
       const QPointF & pos, float orient);
   
     bool update(
       double dt, QPainter & path_painter, const QImage & path_image, qreal canvas_width,
       qreal canvas_height);
     void paint(QPainter & painter);
   
   private:
     void velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr vel);
     bool setPenCallback(
       const turtlesim_msgs::srv::SetPen::Request::SharedPtr,
       turtlesim_msgs::srv::SetPen::Response::SharedPtr);
     bool teleportRelativeCallback(
       const turtlesim_msgs::srv::TeleportRelative::Request::SharedPtr,
       turtlesim_msgs::srv::TeleportRelative::Response::SharedPtr);
     bool teleportAbsoluteCallback(
       const turtlesim_msgs::srv::TeleportAbsolute::Request::SharedPtr,
       turtlesim_msgs::srv::TeleportAbsolute::Response::SharedPtr);
     void rotateAbsoluteAcceptCallback(const std::shared_ptr<RotateAbsoluteGoalHandle>);
   
     void rotateImage();
   
     rclcpp::Node::SharedPtr nh_;
   
     QImage turtle_image_;
     QImage turtle_rotated_image_;
   
     QPointF pos_;
     qreal orient_;
   
     qreal lin_vel_x_;
     qreal lin_vel_y_;
     qreal ang_vel_;
     bool pen_on_;
     QPen pen_;
   
     rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
     rclcpp::Publisher<turtlesim_msgs::msg::Pose>::SharedPtr pose_pub_;
     rclcpp::Publisher<turtlesim_msgs::msg::Color>::SharedPtr color_pub_;
     rclcpp::Service<turtlesim_msgs::srv::SetPen>::SharedPtr set_pen_srv_;
     rclcpp::Service<turtlesim_msgs::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
     rclcpp::Service<turtlesim_msgs::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
     rclcpp_action::Server<turtlesim_msgs::action::RotateAbsolute>
     ::SharedPtr rotate_absolute_action_server_;
   
     std::shared_ptr<RotateAbsoluteGoalHandle> rotate_absolute_goal_handle_;
     std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
     std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Result> rotate_absolute_result_;
     qreal rotate_absolute_start_orient_;
   
     rclcpp::Time last_command_time_;
   
     float meter_;
   
     struct TeleportRequest
     {
       TeleportRequest(float x, float y, qreal _theta, qreal _linear, bool _relative)
       : pos(x, y),
         theta(_theta),
         linear(_linear),
         relative(_relative)
       {
       }
   
       QPointF pos;
       qreal theta;
       qreal linear;
       bool relative;
     };
     typedef std::vector<TeleportRequest> V_TeleportRequest;
     V_TeleportRequest teleport_requests_;
   };
   typedef std::shared_ptr<Turtle> TurtlePtr;
   }  // namespace turtlesim
   
   #endif  // TURTLESIM__TURTLE_HPP_