robot_interaction: interactive_marker

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00001 /*
00002  * Copyright (c) 2012, 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
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00029 
00030 #ifndef MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
00031 #define MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
00032 
00033 #include <visualization_msgs/InteractiveMarker.h>
00034 #include <geometry_msgs/PoseStamped.h>
00035 #include <std_msgs/ColorRGBA.h>
00036 
00037 namespace robot_interaction
00038 {
00039 
00040 visualization_msgs::InteractiveMarker makeEmptyInteractiveMarker(const std::string& name,
00041                                                      const geometry_msgs::PoseStamped &stamped,
00042                                                      double scale);
00043 
00044 visualization_msgs::InteractiveMarker make6DOFMarker(const std::string& name,
00045                                                      const geometry_msgs::PoseStamped &stamped,
00046                                                      double scale,
00047                                                      bool orientation_fixed = false);
00048 
00049 visualization_msgs::InteractiveMarker makePlanarXYMarker(const std::string& name,
00050                                                      const geometry_msgs::PoseStamped &stamped,
00051                                                      double scale,
00052                                                      bool orientation_fixed = false);
00053 
00054 void addTArrowMarker(visualization_msgs::InteractiveMarker &im);
00055 
00056 void addErrorMarker(visualization_msgs::InteractiveMarker &im);
00057 
00058 void add6DOFControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00059 
00060 void addPlanarXYControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00061 
00062 void addOrientationControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00063 
00064 void addPositionControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00065 
00066 void addViewPlaneControl(visualization_msgs::InteractiveMarker& int_marker, double radius, const std_msgs::ColorRGBA& color, bool position = true, bool orientation = true);
00067 
00068 }
00069 
00070 #endif