pose_tool.h
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00001 /*
00002  * Copyright (c) 2008, 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 RVIZ_POSE_TOOL_H
00031 #define RVIZ_POSE_TOOL_H
00032 
00033 #include "tool.h"
00034 #include "properties/forwards.h"
00035 
00036 #include <OGRE/OgreVector3.h>
00037 #include <ros/ros.h>
00038 
00039 namespace ogre_tools
00040 {
00041 class Arrow;
00042 }
00043 
00044 namespace rviz
00045 {
00046 
00047 class VisualizationManager;
00048 
00049 class PoseTool : public Tool
00050 {
00051 public:
00052   PoseTool( const std::string& name, char shortcut_key, VisualizationManager* manager );
00053   virtual ~PoseTool();
00054 
00055   virtual void activate();
00056   virtual void deactivate();
00057 
00058   virtual int processMouseEvent( ViewportMouseEvent& event );
00059 
00060 protected:
00061   Ogre::Vector3 getPositionFromMouseXY( Ogre::Viewport* viewport, int mouse_x, int mouse_y );
00062 
00063   virtual void onPoseSet(double x, double y, double theta) = 0;
00064 
00065   ogre_tools::Arrow* arrow_;
00066 
00067   enum State
00068   {
00069     Position,
00070     Orientation
00071   };
00072   State state_;
00073 
00074   Ogre::Vector3 pos_;
00075 };
00076 
00077 }
00078 
00079 #endif
00080 
00081 


rviz_qt
Author(s): Dave Hershberger
autogenerated on Fri Dec 6 2013 20:56:53