cartesian_gripper_control_tool.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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, Inc. 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 OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#include "pr2_interactive_manipulation/cartesian_gripper_control_tool.h"

#include "rviz/visualization_manager.h"
#include "rviz/properties/property_manager.h"
#include "rviz/properties/property.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/render_panel.h"
#include "rviz/view_controller.h"
#include "rviz/tf_frame_property.h"
#include "rviz/viewport_mouse_event.h"

#include <OGRE/OgreRay.h>
#include <OGRE/OgrePlane.h>
#include <OGRE/OgreCamera.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreViewport.h>

#include <tf/transform_listener.h>

#include <wx/event.h>

namespace pr2_interactive_manipulation
{

CartesianGripperControlTool::CartesianGripperControlTool( const std::string& name, char shortcut_key,
    rviz::VisualizationManager* manager ) : rviz::Tool( name, shortcut_key, manager ),
    left_control_( "left_arm", "l_wrist_roll_link", "base_link", manager ),
    right_control_( "right_arm", "r_wrist_roll_link", "base_link", manager ),
    active_control_(&left_control_),
    status_(IDLE)
{
  deactivate();
  setUseRobotCoords( false );
}

CartesianGripperControlTool::~CartesianGripperControlTool()
{
}

void CartesianGripperControlTool::activate()
{
  left_control_.show();
  right_control_.show();
  left_control_.reset();
  right_control_.reset();
}


void CartesianGripperControlTool::deactivate()
{
  left_control_.hide();
  right_control_.hide();
}

void CartesianGripperControlTool::update(float wall_dt, float ros_dt)
{
  left_control_.update();
  right_control_.update();
}


int CartesianGripperControlTool::processMouseEvent( rviz::ViewportMouseEvent& event )
{
  int width = event.viewport->getActualWidth();
  int height = event.viewport->getActualHeight();

  Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
      (float)event.event.GetX() / (float)width, (float)event.event.GetY() / (float)height );

  float left_dist = left_control_.getClosestIntersection( mouse_ray );
  float right_dist = right_control_.getClosestIntersection( mouse_ray );

  bool above_control = ( left_dist != CartesianGripperControl::NO_INTERSECTION || right_dist != CartesianGripperControl::NO_INTERSECTION );

  switch ( status_ )
  {
    case IDLE:
    {
      if ( event.event.LeftDown() && above_control )
      {
        active_control_ = left_dist < right_dist ? &left_control_ : &right_control_;
        active_control_->mouseDown(mouse_ray);
        status_=CONTROL;
      }
      else if (event.panel->getViewController())
      {
        event.panel->getViewController()->handleMouseEvent(event);
      }
      break;
    }

    case CONTROL:
    {
      if ( event.event.LeftUp() )
      {
        active_control_->mouseUp(mouse_ray);
        status_ = IDLE;
      }
      else
      {
        active_control_->mouseMove(mouse_ray);
      }
      break;
    }
  }

  return 0;
}

void CartesianGripperControlTool::enumerateProperties(rviz::PropertyManager* property_manager, const rviz::CategoryPropertyWPtr& parent)
{
  use_robot_coords_property_ = property_manager->createProperty<rviz::BoolProperty>(
      "Use robot frame", "Tool " + getName(),
      boost::bind( &CartesianGripperControlTool::getUseRobotCoords, this ),
      boost::bind( &CartesianGripperControlTool::setUseRobotCoords, this, _1 ),
      parent, this );
}

void CartesianGripperControlTool::setUseRobotCoords( bool use )
{
  use_robot_coords_ = use;
  left_control_.setUseReferenceFrame(use);
  right_control_.setUseReferenceFrame(use);
}

}

---

pr2_interactive_manipulation
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:11:03 2013