graspable_object_handler.h

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/*
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#ifndef INTERACTIVE_MANIPULATION_GRASPABLE_OBJECT_HANDLER
#define INTERACTIVE_MANIPULATION_GRASPABLE_OBJECT_HANDLER

#include "pr2_object_manipulation_msgs/IMGUIAction.h"

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>

#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>

#include <manipulation_msgs/GraspableObjectList.h>

#include <tabletop_collision_map_processing/collision_map_interface.h>

namespace pr2_interactive_manipulation
{

class InteractiveMarkerNode;

class GraspableObjectHandler
{
public:

  GraspableObjectHandler( std::string name,
      InteractiveMarkerNode *node,
      const manipulation_msgs::GraspableObject &object,
      const shape_msgs::Mesh &mesh,
      interactive_markers::InteractiveMarkerServer &marker_server,
      pr2_object_manipulation_msgs::IMGUIOptions &options,
      tabletop_collision_map_processing::CollisionMapInterface *col);

  ~GraspableObjectHandler();

  manipulation_msgs::GraspableObject getGraspableObject() {return object_;}

  std::string getCollisionName() {return collision_object_name_;}

  void callPickup( int arm_selection );

private:

  typedef interactive_markers::MenuHandler MenuHandler;

  void makeMenu();
  void updateMenu();

  void pickup( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback );

  void addCollisionObject( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback );

  void makeMarker();

  void switchFlag( bool *value, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback );

  interactive_markers::InteractiveMarkerServer &marker_server_;
  actionlib::SimpleActionClient<pr2_object_manipulation_msgs::IMGUIAction> im_gui_action_client_;

  pr2_object_manipulation_msgs::IMGUIOptions &options_;

  manipulation_msgs::GraspableObject object_;
  const shape_msgs::Mesh mesh_;

  bool use_rec_result_;

  bool picking_;

  tabletop_collision_map_processing::CollisionMapInterface *collision_map_interface_;

  interactive_markers::MenuHandler menu_handler_;

  MenuHandler::EntryHandle left_pickup_h_;
  MenuHandler::EntryHandle right_pickup_h_;
  MenuHandler::EntryHandle add_collision_object_h_;
  MenuHandler::EntryHandle use_rec_result_h_;

  std::string name_;

  std::string collision_object_name_;

  InteractiveMarkerNode* interactive_marker_node_;
};

}

#endif