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  /* Author: Dave Coleman
     Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
  */
  
  #ifndef TESSERACT_RVIZ_TESSERACT_TRAJECTORY_DISPLAY_PLUGIN
  #define TESSERACT_RVIZ_TESSERACT_TRAJECTORY_DISPLAY_PLUGIN
  
  #include <tesseract_common/macros.h>
  TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
  #include <rviz/display.h>
  #ifndef Q_MOC_RUN
  #include <ros/ros.h>
  #include <tesseract_environment/core/environment.h>
  #endif
  TESSERACT_COMMON_IGNORE_WARNINGS_POP
  
  #include <tesseract_rviz/render_tools/visualization_widget.h>
  #include <tesseract_rviz/render_tools/trajectory_monitor_widget.h>
  #include <tesseract_msgs/PlanningResponseArchive.h>
  
  namespace tesseract_rviz
  {
  class PlanningResponseArchiveDisplay : public rviz::Display
  {
    Q_OBJECT
  
  public:
    PlanningResponseArchiveDisplay();
  
    ~PlanningResponseArchiveDisplay() override;
  
    void update(float wall_dt, float ros_dt) override;
    void reset() override;
    void setName(const QString& name) override;
  
    void callback(const tesseract_msgs::PlanningResponseArchiveConstPtr& msg);
  
  protected:
    // overrides from Display
    void onInitialize() override;
    void onEnable() override;
    void onDisable() override;
  
    // ROS Node Handle
    ros::NodeHandle nh_;
  
    tesseract_environment::Environment::Ptr env_;
    VisualizationWidget::Ptr visualization_;
  
    TrajectoryMonitorWidget::Ptr trajectory_monitor_;
  
    ros::Subscriber archive_topic_sub_;
  };
  
  }  // namespace tesseract_rviz
  
  #endif  // TESSERACT_RVIZ_TESSERACT_TRAJECTORY_DISPLAY_PLUGIN
  