publish_click_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 PUBLISH_CLICK_VIEW_CONTROLLER_H_
00031 #define PUBLISH_CLICK_VIEW_CONTROLLER_H_
00032 
00033 #include <ros/ros.h>
00034 
00035 #include <rviz/view_controller.h>
00036 #include <rviz/image/ros_image_texture.h>
00037 #include <rviz/viewport_mouse_event.h>
00038 
00039 #include <OGRE/OgreCamera.h>
00040 
00041 namespace pr2_interactive_manipulation
00042 {
00043 
00044 // View controller that, when the image is clicked, published info about the click on a given topic
00045 class PublishClickViewController : public rviz::ViewController
00046 {
00047 public:
00048   PublishClickViewController( rviz::ROSImageTexture &texture, 
00049                               rviz::VisualizationManager* manager, 
00050                               const std::string& name);
00051   virtual ~PublishClickViewController();
00052 
00053   virtual void handleMouseEvent(rviz::ViewportMouseEvent& evt);
00054 
00055   //no need to serialize this class, as it stores no data
00056   virtual void fromString(const std::string& str) {};
00057   virtual std::string toString() { return ""; }
00058 
00059   virtual std::string getClassName() { return "pr2_interactive_manipulation::PublishClickViewController"; }
00060 
00061   const std::string& getTopic() { return topic_; }
00062   void setTopic(const std::string& topic);
00063 
00064   // Since this view controller does not actually control the view,
00065   // these functions which change the pose or direction of the view
00066   // are no-ops: lookAt() and reset().
00067   virtual void lookAt( const Ogre::Vector3& point ) {}
00068   virtual void reset() {}
00069 
00070 protected:
00071   virtual void onActivate() {};
00072   virtual void onDeactivate() {};
00073   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, 
00074                                     const Ogre::Quaternion& old_reference_orientation) {};
00075 
00076   ros::NodeHandle root_nh_;
00077   rviz::ROSImageTexture &texture_;
00078   std::string topic_;
00079   ros::Publisher click_pub_;
00080 };
00081 
00082 }
00083 
00084 #endif 


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