point_cloud_server: marker_helpers.h Source File

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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/interactive_marker_server.h>
00036 #include <interactive_markers/tools.h>
00037 #include <visualization_msgs/InteractiveMarker.h>
00038 #include <visualization_msgs/InteractiveMarkerControl.h>
00039 #include <visualization_msgs/Marker.h>
00040 #include <visualization_msgs/MenuEntry.h>
00041 #include <geometry_msgs/PoseStamped.h>
00042 
00043 // **** 10 ***** 20 ****** 30 ****** 40 ****** 50 ****** 60 ****** 70 ****** 80 ****** 90 ***** 100 ***** 110 ***** 120
00044 
00045 visualization_msgs::InteractiveMarker makeEmptyMarker( const char *frame_id = "" );
00046 
00047 visualization_msgs::Marker makeBox( visualization_msgs::InteractiveMarker &msg );
00048 
00049 void add6DofControl( visualization_msgs::InteractiveMarker &msg, bool fixed = false );
00050 
00051 visualization_msgs::Marker makeSphere( visualization_msgs::InteractiveMarker &msg, double scale );
00052 
00053 
00054 visualization_msgs::InteractiveMarkerControl& makeBoxControl( visualization_msgs::InteractiveMarker &msg );
00055 
00056 visualization_msgs::MenuEntry makeMenuEntry(const char *title);
00057 
00058 visualization_msgs::MenuEntry makeMenuEntry(const char *title, const char *command, int type  );
00059 
00060 visualization_msgs::InteractiveMarker makePostureMarker( const char *name, const geometry_msgs::PoseStamped &stamped, 
00061                                                          float scale, bool fixed, bool view_facing );
00062 
00063 visualization_msgs::InteractiveMarker makeHeadGoalMarker( const char *name, const geometry_msgs::PoseStamped &stamped, 
00064                                                           float scale);
00065 
00066 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00067                                                       const geometry_msgs::PoseStamped &stamped, float scale );
00068 
00069 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00070                                                       const geometry_msgs::PoseStamped &stamped, float scale, const std_msgs::ColorRGBA &color );
00071 
00072 visualization_msgs::InteractiveMarker makeMeshMarker( const std::string &name, const std::string &mesh_resource,
00073                                                       const geometry_msgs::PoseStamped &stamped, float scale, const std_msgs::ColorRGBA &color, bool use_color );
00074 
00075 visualization_msgs::InteractiveMarker makeButtonBox( const char *name, const geometry_msgs::PoseStamped &stamped,
00076                                                      float scale, bool fixed, bool view_facing );
00077 
00078 visualization_msgs::InteractiveMarker make6DofMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00079                                                       float scale, bool fixed, bool view_facing );
00080 
00081 visualization_msgs::InteractiveMarker makeElevatorMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00082                                                           float scale, bool fixed);
00083 
00084 visualization_msgs::InteractiveMarker makeProjectorMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00085                                                            float scale);
00086 
00087 
00088 visualization_msgs::InteractiveMarker makeBaseMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00089                                                       float scale, bool fixed);
00090 
00091 visualization_msgs::InteractiveMarker makeGripperMarker( const char *name, const geometry_msgs::PoseStamped &stamped,
00092                                                          float scale, std_msgs::ColorRGBA color, float angle, bool view_facing );
00093 
00094 
00095 #endif