gripper_click_line.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef GRIPPER_CLICK_LINE
#define GRIPPER_CLICK_LINE

#include "pr2_gripper_click/gripper_click_rviz_ui.h"

namespace Ogre {
class ManualObject;
}

namespace pr2_gripper_click {

class GripperClickLine : public GripperClickPlugin<GripperClickPickupAction>
{

public:
  GripperClickLine();

  // 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 GripperClickPickupGoal::ConstPtr &goal );

  virtual bool getResult(GripperClickPickupResult &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 getGripperParams( bool &visible, Ogre::Vector3 &position, Ogre::Quaternion &orientation, float &angle );

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

protected:

  struct ClickInfo
  {
    bool lbutton_down_, valid_;
    int down_x_, down_y_, up_x_, up_y_;
  };  

  ClickInfo click_info_;

  float gripper_angle_;
  float gripper_roll_;
  float gripper_approach_;

  btTransform gripper_transform_;

  bool computeTransform();

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

  Ogre::ManualObject* line_object_;
};

}

#endif