interactive_marker_helpers: interactive_marker_helpers: interactive_marker

00001 /*
00002  * Copyright (c) 2011, 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 // author: Adam Leeper
00031 
00032 #ifndef _MARKER_HELPERS_H_
00033 #define _MARKER_HELPERS_H_
00034 
00035 #include <interactive_markers/tools.h>
00036 #include <visualization_msgs/InteractiveMarker.h>
00037 #include <visualization_msgs/InteractiveMarkerControl.h>
00038 #include <visualization_msgs/Marker.h>
00039 #include <visualization_msgs/MenuEntry.h>
00040 #include <geometry_msgs/PoseStamped.h>
00041 
00042 // **** 10 ***** 20 ****** 30 ****** 40 ****** 50 ****** 60 ****** 70 ****** 80 ****** 90 ***** 100 ***** 110 ***** 120
00043 
00044 namespace im_helpers {
00045 
00046 enum PoseState {UNTESTED, VALID, INVALID};
00047 
00048 visualization_msgs::InteractiveMarker makeEmptyMarker( const char *frame_id = "" );
00049 
00050 visualization_msgs::Marker makeBox( float scale );
00051 
00052 visualization_msgs::Marker makeSphere( float scale );
00053 
00054 void add6DofControl( visualization_msgs::InteractiveMarker &msg, bool fixed = false );
00055 
00056 
00057 visualization_msgs::InteractiveMarkerControl& makeBoxControl( visualization_msgs::InteractiveMarker &msg );
00058 
00059 visualization_msgs::InteractiveMarkerControl& makeSphereControl( visualization_msgs::InteractiveMarker &msg );
00060 
00061 visualization_msgs::MenuEntry makeMenuEntry(const char *title);
00062 
00063 visualization_msgs::MenuEntry makeMenuEntry(const char *title, const char *command, int type  );
00064 
00065 visualization_msgs::InteractiveMarker makePostureMarker( const char *name, const geometry_msgs::PoseStamped &stamped, 
00066                                                          float scale, bool fixed, bool view_facing );
00067 
00068 visualization_msgs::InteractiveMarker makeHeadGoalMarker( const char *name, const geometry_msgs::PoseStamped &stamped, 
00069                                                           float scale);
00070 
00071 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00072                                                       const geometry_msgs::PoseStamped &stamped, float scale );
00073 
00074 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00075                                                       const geometry_msgs::PoseStamped &stamped, float scale, const std_msgs::ColorRGBA &color );
00076 
00077 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00078                                                       const geometry_msgs::PoseStamped &stamped, float scale, const std_msgs::ColorRGBA &color, bool use_color );
00079 
00080 visualization_msgs::InteractiveMarker makeButtonBox( const char *name, const geometry_msgs::PoseStamped &stamped,
00081                                                      float scale, bool fixed, bool view_facing );
00082 
00083 visualization_msgs::InteractiveMarker makeButtonSphere( const char *name, const geometry_msgs::PoseStamped &stamped,
00084                                                      float scale, bool fixed, bool view_facing );
00085 
00086 visualization_msgs::InteractiveMarker makeButtonSphere( const char *name, const geometry_msgs::PoseStamped &stamped,
00087                                                      float scale, bool fixed, bool view_facing, std_msgs::ColorRGBA color );
00088 
00089 visualization_msgs::InteractiveMarker makeListControl( const char *name, const geometry_msgs::PoseStamped &stamped, int num, int total, float scale);
00090 
00091 visualization_msgs::InteractiveMarker make6DofMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00092                                                       float scale, bool fixed, bool view_facing );
00093 
00094 visualization_msgs::InteractiveMarker makePlanarMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00095                                                       float scale, bool fixed );
00096 
00097 visualization_msgs::InteractiveMarker makeElevatorMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00098                                                           float scale, bool fixed);
00099 
00100 visualization_msgs::InteractiveMarker makeProjectorMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00101                                                            float scale);
00102 
00103 
00104 visualization_msgs::InteractiveMarker makeBaseMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00105                                                       float scale, bool fixed);
00106 
00107 visualization_msgs::InteractiveMarker makeGripperMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00108                                                          float scale, float angle, bool view_facing );
00109 
00110 visualization_msgs::InteractiveMarker makeGripperMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00111                                                          float scale, float angle, bool view_facing, std_msgs::ColorRGBA color );
00112 
00113 visualization_msgs::InteractiveMarker makeGripperMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00114                                                          float scale, float angle, bool view_facing, std_msgs::ColorRGBA color, bool use_color );
00115 
00116 visualization_msgs::InteractiveMarker makeGraspMarker( const char * name, const geometry_msgs::PoseStamped &stamped, float scale, PoseState pose_state);
00117 
00118 visualization_msgs::InteractiveMarker makeRobotModelMarker( const char * name, const geometry_msgs::PoseStamped &stamped,
00119                                                             const std::vector< geometry_msgs::PoseStamped> &mesh_poses,
00120                                                             const std::vector<std::string> &mesh_paths, const float &scale, const bool robot_button_only = false);
00121 
00122 
00123 
00124 } // namespace im_helpers
00125 
00126 #endif
interactive_marker_helpers.h
