select_region.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
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef SELECT_REGION
#define SELECT_REGION

#include "pr2_gripper_click/gripper_click_rviz_ui.h"

namespace Ogre {
class ManualObject;
}

namespace pr2_gripper_click {

class SelectRegion : public SelectRegionUI
{

public:
  SelectRegion(std::string name, rviz::VisualizationManager *visualization_manager);

  virtual bool setNewTask(const SelectRegionGoal::ConstPtr &goal);

  virtual bool getResult(SelectRegionResult &result);

  virtual void update(float wall_dt, float ros_dt);

protected:

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

  virtual void onRenderWindowMouseEvents( wxMouseEvent& event );

  virtual void acceptButtonClicked();

  virtual void cancelButtonClicked();

  void updateLine();

  ClickInfo click_info_;

  Ogre::ManualObject* line_object_;

};

}

#endif