$search
00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "marker_selection_handler.h" 00031 #include "marker_base.h" 00032 #include "rviz/default_plugin/marker_display.h" 00033 #include "rviz/properties/property_manager.h" 00034 #include "rviz/properties/property.h" 00035 #include "rviz/default_plugin/interactive_markers/interactive_marker_control.h" 00036 00037 00038 #include <OGRE/OgreVector3.h> 00039 #include <OGRE/OgreQuaternion.h> 00040 00041 #include <boost/bind.hpp> 00042 00043 namespace rviz 00044 { 00045 00046 MarkerSelectionHandler::MarkerSelectionHandler(const MarkerBase* marker, MarkerID id) 00047 : marker_(marker) 00048 , id_(id) 00049 , control_(0) 00050 { 00051 } 00052 00053 MarkerSelectionHandler::~MarkerSelectionHandler() 00054 { 00055 } 00056 00057 Ogre::Vector3 MarkerSelectionHandler::getPosition() 00058 { 00059 return Ogre::Vector3(marker_->getMessage()->pose.position.x, marker_->getMessage()->pose.position.y, marker_->getMessage()->pose.position.z); 00060 } 00061 00062 Ogre::Quaternion MarkerSelectionHandler::getOrientation() 00063 { 00064 return Ogre::Quaternion(marker_->getMessage()->pose.orientation.w, marker_->getMessage()->pose.orientation.x, marker_->getMessage()->pose.orientation.y, marker_->getMessage()->pose.orientation.z); 00065 } 00066 00067 void MarkerSelectionHandler::createProperties(const Picked& obj, PropertyManager* property_manager) 00068 { 00069 std::stringstream prefix; 00070 prefix << "Marker " << id_.first << "/" << id_.second; 00071 CategoryPropertyWPtr cat = property_manager->createCategory(prefix.str(), prefix.str()); 00072 properties_.push_back(property_manager->createProperty<StringProperty>("ID", prefix.str(), boost::bind(&MarkerSelectionHandler::getId, this), StringProperty::Setter(), cat)); 00073 properties_.push_back(property_manager->createProperty<Vector3Property>("Position", prefix.str(), boost::bind(&MarkerSelectionHandler::getPosition, this), Vector3Property::Setter(), cat)); 00074 properties_.push_back(property_manager->createProperty<QuaternionProperty>("Orientation", prefix.str(), boost::bind(&MarkerSelectionHandler::getOrientation, this), QuaternionProperty::Setter(), cat)); 00075 properties_.push_back(cat); 00076 } 00077 00078 void MarkerSelectionHandler::setControl( InteractiveMarkerControl* control ) 00079 { 00080 control_ = control; 00081 } 00082 00083 00084 bool MarkerSelectionHandler::isInteractive() 00085 { 00086 return control_ && control_->isInteractive(); 00087 } 00088 00089 void MarkerSelectionHandler::enableInteraction(bool enable) 00090 { 00091 if ( control_ ) control_->enableInteraction(enable); 00092 } 00093 00094 void MarkerSelectionHandler::handleMouseEvent(const Picked& obj, ViewportMouseEvent& event) 00095 { 00096 if ( control_ ) control_->handleMouseEvent(event); 00097 } 00098 00099 }