gripper.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *     * 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef GRIPPER_CLICK_GRIPPER_H
#define GRIPPER_CLICK_GRIPPER_H

#include <tf/transform_datatypes.h>

#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreMaterial.h>

namespace Ogre {
class SceneManager;
class SceneNode;
}

namespace rviz_interaction_tools {

class Gripper
{

public:

  Gripper( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root );
  ~Gripper();

  void setGripperAngle(float angle);

  void setPosition( Ogre::Vector3 &position );

  void setOrientation( Ogre::Quaternion &orientation );

  void setVisible( bool visible );

  Ogre::SceneNode* getRootNode() { return gripper_root_; }

  void setColour( float r, float g, float b, float a );

  void setDepthCheckEnabled( bool );

  void setRenderQueueGroup( unsigned group );

protected:

  Ogre::SceneManager* scene_manager_;

  tf::Transform computeOrientation();

  float gripper_angle_;
  float gripper_roll_;
  float gripper_approach_;

  tf::Transform gripper_transform_;

  Ogre::SceneNode* gripper_root_;
  Ogre::SceneNode* l_proximal_finger_node_;
  Ogre::SceneNode* l_distal_finger_node_;
  Ogre::SceneNode* r_proximal_finger_node_;
  Ogre::SceneNode* r_distal_finger_node_;

  std::string resource_group_name_;

  std::vector<Ogre::MaterialPtr> material_;
  std::vector<Ogre::Entity*> entities_;
};

}

#endif