jsk_interactive_marker::TransformableInteractiveServer Class Reference

#include <transformable_interactive_server.h>

Public Member Functions
void	addPose (geometry_msgs::Pose msg)
void	addPoseRelative (geometry_msgs::Pose msg)
virtual void	configCallback (InteractiveSettingConfig &config, uint32_t level)
void	enableInteractiveManipulatorDisplay (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const bool enable)
void	eraseAllObject ()
void	eraseFocusObject ()
void	eraseObject (std::string name)
void	focusInteractiveManipulatorDisplay ()
void	focusObjectMarkerNamePublish ()
void	focusPosePublish ()
void	focusTextPublish ()
bool	getColorService (jsk_interactive_marker::GetTransformableMarkerColor::Request &req, jsk_interactive_marker::GetTransformableMarkerColor::Response &res)
bool	getDimensionsService (jsk_interactive_marker::GetMarkerDimensions::Request &req, jsk_interactive_marker::GetMarkerDimensions::Response &res)
bool	getExistenceService (jsk_interactive_marker::GetTransformableMarkerExistence::Request &req, jsk_interactive_marker::GetTransformableMarkerExistence::Response &res)
bool	getFocusService (jsk_interactive_marker::GetTransformableMarkerFocus::Request &req, jsk_interactive_marker::GetTransformableMarkerFocus::Response &res)
bool	getPoseService (jsk_interactive_marker::GetTransformableMarkerPose::Request &req, jsk_interactive_marker::GetTransformableMarkerPose::Response &res, bool for_interactive_control)
bool	getTypeService (jsk_interactive_marker::GetType::Request &req, jsk_interactive_marker::GetType::Response &res)
bool	hideService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	insertNewBox (std::string frame_id, std::string name, std::string description)
void	insertNewCylinder (std::string frame_id, std::string name, std::string description)
void	insertNewMesh (std::string frame_id, std::string name, std::string description, std::string mesh_resource, bool mesh_use_embedded_materials)
void	insertNewObject (TransformableObject *tobject, std::string name)
void	insertNewTorus (std::string frame_id, std::string name, std::string description)
void	processFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishMarkerDimensions ()
bool	requestMarkerOperateService (jsk_rviz_plugins::RequestMarkerOperate::Request &req, jsk_rviz_plugins::RequestMarkerOperate::Response &res)
void	run ()
void	setColor (std_msgs::ColorRGBA msg)
bool	setColorService (jsk_interactive_marker::SetTransformableMarkerColor::Request &req, jsk_interactive_marker::SetTransformableMarkerColor::Response &res)
void	setControlRelativePose (geometry_msgs::Pose msg)
bool	setDimensionsService (jsk_interactive_marker::SetMarkerDimensions::Request &req, jsk_interactive_marker::SetMarkerDimensions::Response &res)
bool	setFocusService (jsk_interactive_marker::SetTransformableMarkerFocus::Request &req, jsk_interactive_marker::SetTransformableMarkerFocus::Response &res)
void	SetInitialInteractiveMarkerConfig (TransformableObject *tobject)
void	setPose (const geometry_msgs::PoseStampedConstPtr &msg_ptr, bool for_interactive_control=false)
bool	setPoseService (jsk_interactive_marker::SetTransformableMarkerPose::Request &req, jsk_interactive_marker::SetTransformableMarkerPose::Response &res, bool for_interactive_control)
bool	setPoseWithTfTransformation (TransformableObject *tobject, geometry_msgs::PoseStamped pose_stamped, bool for_interactive_control=false)
void	setRadius (std_msgs::Float32 msg)
void	setSmallRadius (std_msgs::Float32 msg)
void	setX (std_msgs::Float32 msg)
void	setY (std_msgs::Float32 msg)
void	setZ (std_msgs::Float32 msg)
bool	showService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	tfTimerCallback (const ros::TimerEvent &)
	TransformableInteractiveServer ()
void	updateTransformableObject (TransformableObject *tobject)
	~TransformableInteractiveServer ()

Public Attributes
ros::Subscriber	addpose_relative_sub_
ros::Subscriber	addpose_sub_
jsk_interactive_marker::InteractiveSettingConfig	config_
std::shared_ptr< dynamic_reconfigure::Server< InteractiveSettingConfig > >	config_srv_
ros::Publisher	focus_name_text_pub_
std::string	focus_object_marker_name_
ros::Publisher	focus_object_marker_name_pub_
ros::Publisher	focus_pose_text_pub_
ros::ServiceServer	get_color_srv_
ros::ServiceServer	get_control_pose_srv_
ros::ServiceServer	get_dimensions_srv
ros::ServiceServer	get_exist_srv_
ros::ServiceServer	get_focus_srv_
ros::ServiceServer	get_pose_srv_
ros::ServiceServer	get_type_srv_
ros::ServiceServer	hide_srv_
int	interactive_manipulator_orientation_
ros::Publisher	marker_dimensions_pub_
boost::mutex	mutex_
ros::NodeHandle *	n_
ros::Publisher	pose_pub_
ros::Publisher	pose_with_name_pub_
ros::ServiceServer	request_marker_operate_srv_
interactive_markers::InteractiveMarkerServer *	server_
ros::ServiceServer	set_color_srv_
ros::ServiceServer	set_control_pose_srv_
ros::ServiceServer	set_dimensions_srv
ros::ServiceServer	set_focus_srv_
ros::Subscriber	set_h_sub_
ros::ServiceServer	set_pose_srv_
ros::Subscriber	set_r_sub_
ros::Subscriber	set_sm_r_sub_
ros::Subscriber	set_x_sub_
ros::Subscriber	set_y_sub_
ros::Subscriber	set_z_sub_
ros::Subscriber	setcolor_sub_
ros::Subscriber	setcontrol_relative_sub_
ros::Subscriber	setcontrolpose_sub_
ros::Subscriber	setpose_sub_
ros::Subscriber	setrad_sub_
ros::ServiceServer	show_srv_
bool	strict_tf_
std::shared_ptr< tf::TransformListener >	tf_listener_
ros::Timer	tf_timer
int	torus_udiv_
int	torus_vdiv_
map< string, TransformableObject * >	transformable_objects_map_
std::shared_ptr< YamlMenuHandler >	yaml_menu_handler_ptr_

Detailed Description

Definition at line 37 of file transformable_interactive_server.h.

Constructor & Destructor Documentation

TransformableInteractiveServer()

TransformableInteractiveServer::TransformableInteractiveServer

(

)

Definition at line 6 of file transformable_interactive_server.cpp.

~TransformableInteractiveServer()

TransformableInteractiveServer::~TransformableInteractiveServer

(

)

Definition at line 84 of file transformable_interactive_server.cpp.

Member Function Documentation

addPose()

void TransformableInteractiveServer::addPose

(

geometry_msgs::Pose

msg

)

Definition at line 488 of file transformable_interactive_server.cpp.

addPoseRelative()

void TransformableInteractiveServer::addPoseRelative

(

geometry_msgs::Pose

msg

)

Definition at line 495 of file transformable_interactive_server.cpp.

configCallback()

void TransformableInteractiveServer::configCallback ( InteractiveSettingConfig &  config, uint32_t  level  )

virtual

Definition at line 92 of file transformable_interactive_server.cpp.

enableInteractiveManipulatorDisplay()

void TransformableInteractiveServer::enableInteractiveManipulatorDisplay	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const bool	enable
	)

Definition at line 517 of file transformable_interactive_server.cpp.

eraseAllObject()

void TransformableInteractiveServer::eraseAllObject

(

)

Definition at line 661 of file transformable_interactive_server.cpp.

eraseFocusObject()

void TransformableInteractiveServer::eraseFocusObject

(

)

Definition at line 668 of file transformable_interactive_server.cpp.

eraseObject()

void TransformableInteractiveServer::eraseObject

(

std::string

name

)

Definition at line 647 of file transformable_interactive_server.cpp.

focusInteractiveManipulatorDisplay()

void TransformableInteractiveServer::focusInteractiveManipulatorDisplay

(

)

Definition at line 525 of file transformable_interactive_server.cpp.

focusObjectMarkerNamePublish()

void TransformableInteractiveServer::focusObjectMarkerNamePublish

(

)

Definition at line 591 of file transformable_interactive_server.cpp.

focusPosePublish()

void TransformableInteractiveServer::focusPosePublish

(

)

Definition at line 562 of file transformable_interactive_server.cpp.

focusTextPublish()

void TransformableInteractiveServer::focusTextPublish

(

)

Definition at line 542 of file transformable_interactive_server.cpp.

getColorService()

bool TransformableInteractiveServer::getColorService	(	jsk_interactive_marker::GetTransformableMarkerColor::Request &	req,
		jsk_interactive_marker::GetTransformableMarkerColor::Response &	res
	)

Definition at line 253 of file transformable_interactive_server.cpp.

getDimensionsService()

bool TransformableInteractiveServer::getDimensionsService	(	jsk_interactive_marker::GetMarkerDimensions::Request &	req,
		jsk_interactive_marker::GetMarkerDimensions::Response &	res
	)

Definition at line 347 of file transformable_interactive_server.cpp.

getExistenceService()

bool TransformableInteractiveServer::getExistenceService	(	jsk_interactive_marker::GetTransformableMarkerExistence::Request &	req,
		jsk_interactive_marker::GetTransformableMarkerExistence::Response &	res
	)

Definition at line 312 of file transformable_interactive_server.cpp.

getFocusService()

bool TransformableInteractiveServer::getFocusService	(	jsk_interactive_marker::GetTransformableMarkerFocus::Request &	req,
		jsk_interactive_marker::GetTransformableMarkerFocus::Response &	res
	)

Definition at line 282 of file transformable_interactive_server.cpp.

getPoseService()

bool TransformableInteractiveServer::getPoseService	(	jsk_interactive_marker::GetTransformableMarkerPose::Request &	req,
		jsk_interactive_marker::GetTransformableMarkerPose::Response &	res,
		bool	for_interactive_control
	)

Definition at line 213 of file transformable_interactive_server.cpp.

getTypeService()

bool TransformableInteractiveServer::getTypeService	(	jsk_interactive_marker::GetType::Request &	req,
		jsk_interactive_marker::GetType::Response &	res
	)

Definition at line 297 of file transformable_interactive_server.cpp.

hideService()

bool TransformableInteractiveServer::hideService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 372 of file transformable_interactive_server.cpp.

insertNewBox()

void TransformableInteractiveServer::insertNewBox	(	std::string	frame_id,
		std::string	name,
		std::string	description
	)

Definition at line 597 of file transformable_interactive_server.cpp.

insertNewCylinder()

void TransformableInteractiveServer::insertNewCylinder	(	std::string	frame_id,
		std::string	name,
		std::string	description
	)

Definition at line 603 of file transformable_interactive_server.cpp.

insertNewMesh()

void TransformableInteractiveServer::insertNewMesh	(	std::string	frame_id,
		std::string	name,
		std::string	description,
		std::string	mesh_resource,
		bool	mesh_use_embedded_materials
	)

Definition at line 615 of file transformable_interactive_server.cpp.

insertNewObject()

void TransformableInteractiveServer::insertNewObject	(	TransformableObject *	tobject,
		std::string	name
	)

Definition at line 621 of file transformable_interactive_server.cpp.

insertNewTorus()

void TransformableInteractiveServer::insertNewTorus	(	std::string	frame_id,
		std::string	name,
		std::string	description
	)

Definition at line 609 of file transformable_interactive_server.cpp.

processFeedback()

void TransformableInteractiveServer::processFeedback

(

const visualization_msgs::InteractiveMarkerFeedbackConstPtr &

feedback

)

Definition at line 105 of file transformable_interactive_server.cpp.

publishMarkerDimensions()

void TransformableInteractiveServer::publishMarkerDimensions

(

)

Definition at line 397 of file transformable_interactive_server.cpp.

requestMarkerOperateService()

bool TransformableInteractiveServer::requestMarkerOperateService	(	jsk_rviz_plugins::RequestMarkerOperate::Request &	req,
		jsk_rviz_plugins::RequestMarkerOperate::Response &	res
	)

Definition at line 417 of file transformable_interactive_server.cpp.

run()

void TransformableInteractiveServer::run

(

)

Definition at line 723 of file transformable_interactive_server.cpp.

setColor()

void TransformableInteractiveServer::setColor

(

std_msgs::ColorRGBA

msg

)

Definition at line 136 of file transformable_interactive_server.cpp.

setColorService()

bool TransformableInteractiveServer::setColorService	(	jsk_interactive_marker::SetTransformableMarkerColor::Request &	req,
		jsk_interactive_marker::SetTransformableMarkerColor::Response &	res
	)

Definition at line 267 of file transformable_interactive_server.cpp.

setControlRelativePose()

void TransformableInteractiveServer::setControlRelativePose

(

geometry_msgs::Pose

msg

)

Definition at line 502 of file transformable_interactive_server.cpp.

setDimensionsService()

bool TransformableInteractiveServer::setDimensionsService	(	jsk_interactive_marker::SetMarkerDimensions::Request &	req,
		jsk_interactive_marker::SetMarkerDimensions::Response &	res
	)

Definition at line 322 of file transformable_interactive_server.cpp.

setFocusService()

bool TransformableInteractiveServer::setFocusService	(	jsk_interactive_marker::SetTransformableMarkerFocus::Request &	req,
		jsk_interactive_marker::SetTransformableMarkerFocus::Response &	res
	)

Definition at line 288 of file transformable_interactive_server.cpp.

SetInitialInteractiveMarkerConfig()

void TransformableInteractiveServer::SetInitialInteractiveMarkerConfig

(

TransformableObject *

tobject

)

Definition at line 636 of file transformable_interactive_server.cpp.

setPose()

void TransformableInteractiveServer::setPose	(	const geometry_msgs::PoseStampedConstPtr &	msg_ptr,
		bool	for_interactive_control = false
	)

Definition at line 202 of file transformable_interactive_server.cpp.

setPoseService()

bool TransformableInteractiveServer::setPoseService	(	jsk_interactive_marker::SetTransformableMarkerPose::Request &	req,
		jsk_interactive_marker::SetTransformableMarkerPose::Response &	res,
		bool	for_interactive_control
	)

Definition at line 231 of file transformable_interactive_server.cpp.

setPoseWithTfTransformation()

bool TransformableInteractiveServer::setPoseWithTfTransformation	(	TransformableObject *	tobject,
		geometry_msgs::PoseStamped	pose_stamped,
		bool	for_interactive_control = false
	)

Definition at line 680 of file transformable_interactive_server.cpp.

setRadius()

void TransformableInteractiveServer::setRadius

(

std_msgs::Float32

msg

)

Definition at line 144 of file transformable_interactive_server.cpp.

setSmallRadius()

void TransformableInteractiveServer::setSmallRadius

(

std_msgs::Float32

msg

)

Definition at line 154 of file transformable_interactive_server.cpp.

setX()

void TransformableInteractiveServer::setX

(

std_msgs::Float32

msg

)

Definition at line 164 of file transformable_interactive_server.cpp.

setY()

void TransformableInteractiveServer::setY

(

std_msgs::Float32

msg

)

Definition at line 174 of file transformable_interactive_server.cpp.

setZ()

void TransformableInteractiveServer::setZ

(

std_msgs::Float32

msg

)

Definition at line 184 of file transformable_interactive_server.cpp.

showService()

bool TransformableInteractiveServer::showService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 385 of file transformable_interactive_server.cpp.

tfTimerCallback()

void TransformableInteractiveServer::tfTimerCallback

(

const ros::TimerEvent &

)

Definition at line 673 of file transformable_interactive_server.cpp.

updateTransformableObject()

void TransformableInteractiveServer::updateTransformableObject

(

TransformableObject *

tobject

)

Definition at line 194 of file transformable_interactive_server.cpp.

Member Data Documentation

addpose_relative_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::addpose_relative_sub_

Definition at line 110 of file transformable_interactive_server.h.

addpose_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::addpose_sub_

Definition at line 109 of file transformable_interactive_server.h.

config_

jsk_interactive_marker::InteractiveSettingConfig jsk_interactive_marker::TransformableInteractiveServer::config_

Definition at line 151 of file transformable_interactive_server.h.

config_srv_

std::shared_ptr<dynamic_reconfigure::Server<InteractiveSettingConfig> > jsk_interactive_marker::TransformableInteractiveServer::config_srv_

Definition at line 138 of file transformable_interactive_server.h.

focus_name_text_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::focus_name_text_pub_

Definition at line 141 of file transformable_interactive_server.h.

focus_object_marker_name_

std::string jsk_interactive_marker::TransformableInteractiveServer::focus_object_marker_name_

Definition at line 101 of file transformable_interactive_server.h.

focus_object_marker_name_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::focus_object_marker_name_pub_

Definition at line 143 of file transformable_interactive_server.h.

focus_pose_text_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::focus_pose_text_pub_

Definition at line 142 of file transformable_interactive_server.h.

get_color_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_color_srv_

Definition at line 127 of file transformable_interactive_server.h.

get_control_pose_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_control_pose_srv_

Definition at line 124 of file transformable_interactive_server.h.

get_dimensions_srv

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_dimensions_srv

Definition at line 134 of file transformable_interactive_server.h.

get_exist_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_exist_srv_

Definition at line 132 of file transformable_interactive_server.h.

get_focus_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_focus_srv_

Definition at line 129 of file transformable_interactive_server.h.

get_pose_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_pose_srv_

Definition at line 123 of file transformable_interactive_server.h.

get_type_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::get_type_srv_

Definition at line 131 of file transformable_interactive_server.h.

hide_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::hide_srv_

Definition at line 121 of file transformable_interactive_server.h.

interactive_manipulator_orientation_

int jsk_interactive_marker::TransformableInteractiveServer::interactive_manipulator_orientation_

Definition at line 153 of file transformable_interactive_server.h.

marker_dimensions_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::marker_dimensions_pub_

Definition at line 135 of file transformable_interactive_server.h.

mutex_

boost::mutex jsk_interactive_marker::TransformableInteractiveServer::mutex_

Definition at line 104 of file transformable_interactive_server.h.

n_

ros::NodeHandle* jsk_interactive_marker::TransformableInteractiveServer::n_

Definition at line 102 of file transformable_interactive_server.h.

pose_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::pose_pub_

Definition at line 144 of file transformable_interactive_server.h.

pose_with_name_pub_

ros::Publisher jsk_interactive_marker::TransformableInteractiveServer::pose_with_name_pub_

Definition at line 145 of file transformable_interactive_server.h.

request_marker_operate_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::request_marker_operate_srv_

Definition at line 136 of file transformable_interactive_server.h.

server_

interactive_markers::InteractiveMarkerServer* jsk_interactive_marker::TransformableInteractiveServer::server_

Definition at line 146 of file transformable_interactive_server.h.

set_color_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::set_color_srv_

Definition at line 128 of file transformable_interactive_server.h.

set_control_pose_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::set_control_pose_srv_

Definition at line 126 of file transformable_interactive_server.h.

set_dimensions_srv

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::set_dimensions_srv

Definition at line 133 of file transformable_interactive_server.h.

set_focus_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::set_focus_srv_

Definition at line 130 of file transformable_interactive_server.h.

set_h_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_h_sub_

Definition at line 116 of file transformable_interactive_server.h.

set_pose_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::set_pose_srv_

Definition at line 125 of file transformable_interactive_server.h.

set_r_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_r_sub_

Definition at line 114 of file transformable_interactive_server.h.

set_sm_r_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_sm_r_sub_

Definition at line 115 of file transformable_interactive_server.h.

set_x_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_x_sub_

Definition at line 117 of file transformable_interactive_server.h.

set_y_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_y_sub_

Definition at line 118 of file transformable_interactive_server.h.

set_z_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::set_z_sub_

Definition at line 119 of file transformable_interactive_server.h.

setcolor_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::setcolor_sub_

Definition at line 106 of file transformable_interactive_server.h.

setcontrol_relative_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::setcontrol_relative_sub_

Definition at line 112 of file transformable_interactive_server.h.

setcontrolpose_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::setcontrolpose_sub_

Definition at line 108 of file transformable_interactive_server.h.

setpose_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::setpose_sub_

Definition at line 107 of file transformable_interactive_server.h.

setrad_sub_

ros::Subscriber jsk_interactive_marker::TransformableInteractiveServer::setrad_sub_

Definition at line 140 of file transformable_interactive_server.h.

show_srv_

ros::ServiceServer jsk_interactive_marker::TransformableInteractiveServer::show_srv_

Definition at line 122 of file transformable_interactive_server.h.

strict_tf_

bool jsk_interactive_marker::TransformableInteractiveServer::strict_tf_

Definition at line 152 of file transformable_interactive_server.h.

tf_listener_

std::shared_ptr<tf::TransformListener> jsk_interactive_marker::TransformableInteractiveServer::tf_listener_

Definition at line 148 of file transformable_interactive_server.h.

tf_timer

ros::Timer jsk_interactive_marker::TransformableInteractiveServer::tf_timer

Definition at line 154 of file transformable_interactive_server.h.

torus_udiv_

int jsk_interactive_marker::TransformableInteractiveServer::torus_udiv_

Definition at line 149 of file transformable_interactive_server.h.

torus_vdiv_

int jsk_interactive_marker::TransformableInteractiveServer::torus_vdiv_

Definition at line 150 of file transformable_interactive_server.h.

transformable_objects_map_

map<string, TransformableObject*> jsk_interactive_marker::TransformableInteractiveServer::transformable_objects_map_

Definition at line 147 of file transformable_interactive_server.h.

yaml_menu_handler_ptr_

std::shared_ptr<YamlMenuHandler> jsk_interactive_marker::TransformableInteractiveServer::yaml_menu_handler_ptr_

Definition at line 155 of file transformable_interactive_server.h.

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The documentation for this class was generated from the following files:

• transformable_interactive_server.h
• transformable_interactive_server.cpp