interactive_manipulation_frontend.h

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/*
 * Copyright (c) 2009, 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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 * 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 INTERACTIVE_MANIPULATION_FRONTEND
#define INTERACTIVE_MANIPULATION_FRONTEND

#include "pr2_interactive_manipulation/object_selection_frame.h"
#include "pr2_interactive_manipulation/interactive_manipulation_ui.h"
#include "pr2_interactive_manipulation/advanced_options_dialog.h"
#include "pr2_interactive_manipulation/IMGUIOptions.h"
#include "pr2_interactive_manipulation/IMGUIAdvancedOptions.h"
#include "pr2_interactive_manipulation/IMGUIAction.h"

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

#include <pr2_interactive_object_detection/GraspableObjectList.h>

namespace rviz {
class VisualizationManager;
}

namespace pr2_interactive_manipulation {

class InteractiveManipulationFrontend : public InteractiveManipulationFrameBase
{
public:
  InteractiveManipulationFrontend(wxWindow *parent, rviz::VisualizationManager* manager);

  ~InteractiveManipulationFrontend();

  void update();

  void setAdvancedOptions(IMGUIAdvancedOptions ago){adv_options_ = ago;}

protected:

  void feedbackCallback(const IMGUIFeedbackConstPtr &feedback);

  virtual void graspButtonClicked( wxCommandEvent& event );

  virtual void placeButtonClicked( wxCommandEvent& event );

  virtual void cancelButtonClicked( wxCommandEvent& event );

  virtual void takeMapButtonClicked( wxCommandEvent& event );

  virtual void resetButtonClicked( wxCommandEvent& event );

  virtual void armGoButtonClicked( wxCommandEvent& event );

  virtual void lookButtonClicked( wxCommandEvent& event );

  virtual void advancedOptionsClicked( wxCommandEvent& event );

  virtual void modelObjectClicked( wxCommandEvent& event);

  virtual void gripperSliderScrollChanged( wxScrollEvent& );
 
  IMGUIOptions getDialogOptions();

  void graspableObjectsCallback(const pr2_interactive_object_detection::GraspableObjectListConstPtr &objects);

  ros::NodeHandle root_nh_;

  ros::NodeHandle priv_nh_;

  ros::Subscriber graspable_objects_sub_;
  pr2_interactive_object_detection::GraspableObjectListConstPtr received_objects_;
  boost::mutex received_objects_mutex_;
  bool new_object_list_;
  
  actionlib::SimpleActionClient<IMGUIAction> *action_client_;
  
  std::string action_name_;

  std::string status_label_text_;

  boost::mutex status_label_mutex_;

  IMGUIAdvancedOptions adv_options_;  

  bool active_goal_;

  ObjectSelectionFrame *object_selection_frame_;

};

}

#endif

---

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