point_head_view_controller.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef POINT_HEAD_VIEW_CONTROLLER_H_
#define POINT_HEAD_VIEW_CONTROLLER_H_

#include <ros/ros.h>

#include <pr2_controllers_msgs/PointHeadAction.h>

#include <actionlib/client/simple_action_client.h>

#include <rviz/view_controller.h>
#include <rviz/image/ros_image_texture.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/display_context.h>

#include <OGRE/OgreCamera.h>

#define DEBUG_DISPLAY

namespace pr2_interactive_manipulation
{

// View controller that, instead of controlling the camera,
// makes the robot point it's head (approximately) in the direction of a mouse click
// by computing a look-at point 1m in front of the camera.
// note: this will only work in a camera display of one of the head cameras
class PointHeadViewController : public rviz::ViewController
{
public:
  PointHeadViewController( rviz::ROSImageTexture &texture, rviz::DisplayContext* context);
  virtual ~PointHeadViewController();

  virtual void handleMouseEvent(rviz::ViewportMouseEvent& evt);

  //no need to serialize this class, as it stores no data
  virtual void fromString(const std::string& str) {};
  virtual std::string toString() { return ""; }

  virtual void lookAt( const Ogre::Vector3& point );
  virtual std::string getClassName() { return "pr2_interactive_manipulation::PointHeadViewController"; }

  const std::string& getTopic() { return topic_; }
  void setTopic(const std::string& topic);

  virtual void reset();

protected:
  virtual void onActivate() {};
  virtual void onDeactivate() {};
  virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, 
                                    const Ogre::Quaternion& old_reference_orientation) {};

#ifdef DEBUG_DISPLAY
  ros::Publisher marker_pub_;
#endif

  rviz::ROSImageTexture &texture_;

  typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadActionClient;
  PointHeadActionClient *point_head_action_client_;

  std::string topic_;
};

}

#endif /* POINT_HEAD_VIEW_CONTROLLER_H_ */