cartesian_gripper_control_tool.h

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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
 * 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
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 */

#ifndef CartesianGripperControlTool_H
#define CartesianGripperControlTool_H

#include "rviz/tools/tool.h"
#include "rviz/properties/forwards.h"

#include "ros/subscriber.h"

#include "pr2_interactive_manipulation/cartesian_gripper_control.h"


namespace rviz
{
class VisualizationManager;
class PropertyManager;
}

namespace pr2_interactive_manipulation
{

class CartesianGripperControlTool : public rviz::Tool
{
public:
  CartesianGripperControlTool( const std::string& name, char shortcut_key, rviz::VisualizationManager* manager );
  virtual ~CartesianGripperControlTool();

  virtual void activate();
  virtual void deactivate();

  virtual int processMouseEvent( rviz::ViewportMouseEvent& event );

  const CartesianGripperControl& getLeftControl() { return left_control_; }
  const CartesianGripperControl& getRightControl() { return right_control_; }

  virtual void update(float wall_dt, float ros_dt);

  virtual bool hasProperties() { return true; }
  virtual void enumerateProperties(rviz::PropertyManager* property_manager, const rviz::CategoryPropertyWPtr& parent);

  void setUseRobotCoords( bool use );
  const bool& getUseRobotCoords() { return use_robot_coords_; }

  enum StatusT
  {
    IDLE,
    CONTROL
  };

protected:

  ros::Subscriber tf_sub_;

  CartesianGripperControl left_control_;
  CartesianGripperControl right_control_;
  CartesianGripperControl *active_control_;

  rviz::BoolPropertyWPtr use_robot_coords_property_;

  bool use_robot_coords_;

  StatusT status_;
};

}

#endif

---

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