gripper.h
Go to the documentation of this 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 GRIPPER_CLICK_GRIPPER_H 00031 #define GRIPPER_CLICK_GRIPPER_H 00032 00033 #include <tf/transform_datatypes.h> 00034 00035 #include <OGRE/OgreQuaternion.h> 00036 #include <OGRE/OgreVector3.h> 00037 #include <OGRE/OgreMaterial.h> 00038 00039 namespace Ogre { 00040 class SceneManager; 00041 class SceneNode; 00042 } 00043 00044 namespace rviz_interaction_tools { 00045 00046 class Gripper 00047 { 00048 00049 public: 00050 00051 Gripper( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root ); 00052 ~Gripper(); 00053 00054 void setGripperAngle(float angle); 00055 00056 void setPosition( Ogre::Vector3 &position ); 00057 00058 void setOrientation( Ogre::Quaternion &orientation ); 00059 00060 void setVisible( bool visible ); 00061 00062 Ogre::SceneNode* getRootNode() { return gripper_root_; } 00063 00064 void setColour( float r, float g, float b, float a ); 00065 00066 void setDepthCheckEnabled( bool ); 00067 00068 void setRenderQueueGroup( unsigned group ); 00069 00070 protected: 00071 00072 Ogre::SceneManager* scene_manager_; 00073 00074 btTransform computeOrientation(); 00075 00076 float gripper_angle_; 00077 float gripper_roll_; 00078 float gripper_approach_; 00079 00080 btTransform gripper_transform_; 00081 00082 Ogre::SceneNode* gripper_root_; 00083 Ogre::SceneNode* l_proximal_finger_node_; 00084 Ogre::SceneNode* l_distal_finger_node_; 00085 Ogre::SceneNode* r_proximal_finger_node_; 00086 Ogre::SceneNode* r_distal_finger_node_; 00087 00088 std::string resource_group_name_; 00089 00090 std::vector<Ogre::MaterialPtr> material_; 00091 std::vector<Ogre::Entity*> entities_; 00092 }; 00093 00094 } 00095 00096 #endif