interaction_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_INTERACTION_TOOL_H 00031 #define RVIZ_INTERACTION_TOOL_H 00032 00033 #include "rviz/tools/tool.h" 00034 #include "rviz/properties/forwards.h" 00035 #include "rviz/selection/forwards.h" 00036 #include "rviz/selection/selection_handler.h" 00037 00038 #include "ros/subscriber.h" 00039 00040 namespace rviz 00041 { 00042 class VisualizationManager; 00043 00044 class InteractionTool : public Tool 00045 { 00046 public: 00047 InteractionTool( const std::string& name, char shortcut_key, rviz::VisualizationManager* manager ); 00048 virtual ~InteractionTool(); 00049 00050 virtual void activate(); 00051 virtual void deactivate(); 00052 00053 virtual int processMouseEvent( rviz::ViewportMouseEvent& event ); 00054 00055 virtual void update(float wall_dt, float ros_dt); 00056 00057 virtual bool hasProperties() { return true; } 00058 virtual void enumerateProperties(rviz::PropertyManager* property_manager, const rviz::CategoryPropertyWPtr& parent); 00059 00060 protected: 00061 00062 void updateSelection( SelectionHandlerPtr &focused_handler, ViewportMouseEvent event ); 00063 00064 // handle of the currently focused object 00065 Picked focused_object_; 00066 00067 // handle of the ViewControllerHandler we're creating 00068 CollObjectHandle view_controller_handle_; 00069 SelectionHandlerPtr view_controller_handler_; 00070 00071 uint64_t last_selection_frame_count_; 00072 }; 00073 00074 } 00075 00076 #endif 00077 00078