gripper_click_dot.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef GRIPPER_CLICK_DOT
#define GRIPPER_CLICK_DOT

#include "pr2_gripper_click/gripper_click_rviz_ui.h"

namespace Ogre {
class ManualObject;
}

namespace pr2_gripper_click {

class GripperClickDot : public GripperClickPlugin<GripperClickPlaceAction>
{

public:

  GripperClickDot();

  // do the actual initialization, instantiate ogre elements etc.
  virtual void init( rviz::VisualizationManager *vis_manager, Ogre::SceneManager* scene_manager, Ogre::SceneNode* camera_node );

  virtual bool setGoal( const GripperClickPlaceGoal::ConstPtr &goal );

  virtual bool getResult(GripperClickPlaceResult &result);

  virtual void update(float wall_dt, float ros_dt);

  // @return true if a result would already be available
  virtual bool hasValidResult();

  // make the orge content visible / invisible
  virtual void show( );
  virtual void hide( );

  virtual void onRenderWindowMouseEvents( wxMouseEvent& event, Ogre::Ray &mouse_ray );

protected:

  struct ClickInfo
  {
    bool valid_;
    int down_x_, down_y_;
  };  

  ClickInfo click_info_;

  stereo_msgs::DisparityImage disparity_image_;
  sensor_msgs::CameraInfo camera_info_;

  Ogre::ManualObject* dot_object_;
};

}

#endif