goal_tool.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, 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_GOAL_TOOL_H 00031 #define RVIZ_GOAL_TOOL_H 00032 00033 #include "pose_tool.h" 00034 #include "properties/forwards.h" 00035 00036 #include <OGRE/OgreVector3.h> 00037 #include <ros/ros.h> 00038 00039 namespace ogre_tools 00040 { 00041 class Arrow; 00042 } 00043 00044 namespace rviz 00045 { 00046 00047 class VisualizationManager; 00048 00049 class GoalTool : public PoseTool 00050 { 00051 public: 00052 GoalTool( const std::string& name, char shortcut_key, VisualizationManager* manager ); 00053 virtual ~GoalTool(); 00054 00055 const std::string& getTopic() { return topic_; } 00056 void setTopic(const std::string& topic); 00057 virtual bool hasProperties() { return true; } 00058 virtual void enumerateProperties(PropertyManager* property_manager, const CategoryPropertyWPtr& parent); 00059 00060 protected: 00061 virtual void onPoseSet(double x, double y, double theta); 00062 00063 std::string topic_; 00064 00065 ros::NodeHandle nh_; 00066 ros::Publisher pub_; 00067 00068 StringPropertyWPtr topic_property_; 00069 }; 00070 00071 } 00072 00073 #endif 00074 00075