point_head_view_controller.h
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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 #ifndef POINT_HEAD_VIEW_CONTROLLER_H_
00031 #define POINT_HEAD_VIEW_CONTROLLER_H_
00032 
00033 #include <ros/ros.h>
00034 
00035 #include <pr2_controllers_msgs/PointHeadAction.h>
00036 
00037 #include <actionlib/client/simple_action_client.h>
00038 
00039 #include <rviz/view_controller.h>
00040 #include <rviz/image/ros_image_texture.h>
00041 #include <rviz/viewport_mouse_event.h>
00042 
00043 #include <OGRE/OgreCamera.h>
00044 
00045 #define DEBUG_DISPLAY
00046 
00047 namespace pr2_interactive_manipulation
00048 {
00049 
00050 // View controller that, instead of controlling the camera,
00051 // makes the robot point it's head (approximately) in the direction of a mouse click
00052 // by computing a look-at point 1m in front of the camera.
00053 // note: this will only work in a camera display of one of the head cameras
00054 class PointHeadViewController : public rviz::ViewController
00055 {
00056 public:
00057   PointHeadViewController( rviz::ROSImageTexture &texture, rviz::VisualizationManager* manager, const std::string& name);
00058   virtual ~PointHeadViewController();
00059 
00060   virtual void handleMouseEvent(rviz::ViewportMouseEvent& evt);
00061 
00062   //no need to serialize this class, as it stores no data
00063   virtual void fromString(const std::string& str) {};
00064   virtual std::string toString() { return ""; }
00065 
00066   virtual void lookAt( const Ogre::Vector3& point );
00067   virtual std::string getClassName() { return "pr2_interactive_manipulation::PointHeadViewController"; }
00068 
00069   const std::string& getTopic() { return topic_; }
00070   void setTopic(const std::string& topic);
00071 
00074   virtual void reset();
00075 
00076 protected:
00077   virtual void onActivate() {};
00078   virtual void onDeactivate() {};
00079   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, 
00080                                     const Ogre::Quaternion& old_reference_orientation) {};
00081 
00082 #ifdef DEBUG_DISPLAY
00083   ros::Publisher marker_pub_;
00084 #endif
00085 
00086   rviz::ROSImageTexture &texture_;
00087 
00088   typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadActionClient;
00089   PointHeadActionClient *point_head_action_client_;
00090 
00091   std::string topic_;
00092 };
00093 
00094 }
00095 
00096 #endif /* POINT_HEAD_VIEW_CONTROLLER_H_ */


pr2_interactive_manipulation
Author(s): Matei Ciocarlie, Kaijen Hsiao, Adam Leeper
autogenerated on Fri Jan 3 2014 12:08:59