rviz: marker_selection_handler.h Source File

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 #ifndef RVIZ_MARKER_SELECTION_HANDLER_H
00031 #define RVIZ_MARKER_SELECTION_HANDLER_H
00032 
00033 #include "rviz/selection/forwards.h"
00034 #include "rviz/selection/selection_manager.h"
00035 
00036 namespace rviz
00037 {
00038 class MarkerBase;
00039 typedef std::pair<std::string, int32_t> MarkerID;
00040 
00041 class MarkerSelectionHandler : public SelectionHandler
00042 {
00043 public:
00044   MarkerSelectionHandler(const MarkerBase* marker, MarkerID id);
00045   virtual ~MarkerSelectionHandler();
00046 
00047   std::string getId()
00048   {
00049     std::stringstream ss;
00050     ss << id_.first << "/" << id_.second;
00051     return ss.str();
00052   }
00053 
00054   Ogre::Vector3 getPosition();
00055   Ogre::Quaternion getOrientation();
00056 
00057   virtual void createProperties(const Picked& obj, PropertyManager* property_manager);
00058 
00059 private:
00060   const MarkerBase* marker_;
00061   MarkerID id_;
00062 };
00063 
00064 }
00065 
00066 #endif
00067