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_PICKUP_CARTESIAN 00031 #define GRIPPER_CLICK_PICKUP_CARTESIAN 00032 00033 #include "pr2_gripper_click/gripper_click_rviz_ui.h" 00034 #include "rviz_interaction_tools/cartesian_control.h" 00035 #include "ogre_tools/point_cloud.h" 00036 00037 namespace Ogre { 00038 class ManualObject; 00039 } 00040 00041 namespace pr2_gripper_click { 00042 00043 class GripperClickPickupCartesian : public GripperClickPlugin<GripperClickPickupAction> 00044 { 00045 00046 public: 00047 00048 GripperClickPickupCartesian(); 00049 00050 // do the actual initialization, instantiate ogre elements etc. 00051 virtual void init( rviz::VisualizationManager *vis_manager, Ogre::SceneManager* scene_manager, Ogre::SceneNode* camera_node ); 00052 00053 virtual bool setGoal( const GripperClickPickupGoal::ConstPtr &goal ); 00054 00055 virtual bool getResult( GripperClickPickupResult &result ); 00056 00057 virtual void update(float wall_dt, float ros_dt); 00058 00059 // @return true if a result would already be available 00060 virtual bool hasValidResult(); 00061 00062 // make the orge content visible / invisible 00063 virtual void show( ); 00064 virtual void hide( ); 00065 00066 virtual void onRenderWindowMouseEvents( wxMouseEvent& event, Ogre::Ray &mouse_ray ); 00067 00068 virtual void getGripperParams( bool &visible, Ogre::Vector3 &position, Ogre::Quaternion &orientation, float &angle ); 00069 00070 protected: 00071 00072 stereo_msgs::DisparityImage disparity_image_; 00073 sensor_msgs::CameraInfo camera_info_; 00074 00075 rviz_interaction_tools::CartesianControl *cartesian_control_; 00076 00077 Ogre::SceneNode *camera_node_; 00078 00079 bool initialized_; 00080 00081 float gripper_angle_; 00082 }; 00083 00084 } 00085 00086 #endif