.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_interactive_markers_interactive_marker.hpp:

Program Listing for File interactive_marker.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_interactive_markers_interactive_marker.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2011, Willow Garage, Inc.
    * Copyright (c) 2019, Open Source Robotics Foundation, 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:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the copyright holder 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"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_HPP_
   #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_HPP_
   
   #ifndef Q_MOC_RUN
   #include <map>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <thread>
   #include <vector>
   
   #include <OgreVector3.h>
   #include <OgreQuaternion.h>
   #endif
   
   #include <visualization_msgs/msg/interactive_marker.hpp>
   #include <visualization_msgs/msg/interactive_marker_pose.hpp>
   #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
   
   #include <rclcpp/publisher.hpp>
   
   #include "rviz_common/properties/status_property.hpp"
   #include "rviz_rendering/objects/axes.hpp"
   
   #include "rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp"
   
   #include "rviz_default_plugins/visibility_control.hpp"
   
   namespace Ogre
   {
   class SceneNode;
   }
   
   class QMenu;
   
   namespace rviz_common
   {
   class DisplayContext;
   }
   
   namespace rviz_default_plugins
   {
   namespace displays
   {
   class InteractiveMarkerDisplay;
   
   class RVIZ_DEFAULT_PLUGINS_PUBLIC InteractiveMarker : public QObject
   {
     Q_OBJECT
   
   public:
     using SharedPtr = std::shared_ptr<InteractiveMarker>;
   
     InteractiveMarker(Ogre::SceneNode * scene_node, rviz_common::DisplayContext * context);
     virtual ~InteractiveMarker();
   
   
     bool processMessage(const visualization_msgs::msg::InteractiveMarker & message);
   
   
     void processMessage(const visualization_msgs::msg::InteractiveMarkerPose & message);
   
     void update();
   
   
     void setPose(
       Ogre::Vector3 position,
       Ogre::Quaternion orientation,
       const std::string & control_name);
   
     void translate(Ogre::Vector3 delta_position, const std::string & control_name);
   
     void rotate(Ogre::Quaternion delta_orientation, const std::string & control_name);
   
     void requestPoseUpdate(Ogre::Vector3 position, Ogre::Quaternion orientation);
   
     void startDragging();
   
     void stopDragging();
   
     inline const Ogre::Vector3 & getPosition()
     {
       return position_;
     }
   
     inline const Ogre::Quaternion & getOrientation()
     {
       return orientation_;
     }
   
     inline float getSize()
     {
       return scale_;
     }
   
     inline const std::string & getReferenceFrame()
     {
       return reference_frame_;
     }
   
     inline const std::string & getName()
     {
       return name_;
     }
   
     void setShowDescription(bool show);
   
     void setShowAxes(bool show);
   
     void setShowVisualAids(bool show);
   
     bool handleMouseEvent(rviz_common::ViewportMouseEvent & event, const std::string & control_name);
   
   
     bool handle3DCursorEvent(
       rviz_common::ViewportMouseEvent & event,
       const Ogre::Vector3 & cursor_pos,
       const Ogre::Quaternion & cursor_rot,
       const std::string & control_name);
   
   
     void showMenu(
       rviz_common::ViewportMouseEvent & event,
       const std::string & control_name,
       const Ogre::Vector3 & three_d_point,
       bool valid_point);
   
     void publishFeedback(
       visualization_msgs::msg::InteractiveMarkerFeedback & feedback,
       bool mouse_point_valid = false,
       const Ogre::Vector3 & mouse_point_rel_world = Ogre::Vector3(0, 0, 0));
   
     inline bool hasMenu()
     {
       return has_menu_;
     }
   
     inline std::shared_ptr<QMenu> getMenu()
     {
       return menu_;
     }
   
   Q_SIGNALS:
     void userFeedback(visualization_msgs::msg::InteractiveMarkerFeedback & feedback);
   
     void statusUpdate(
       rviz_common::properties::StatusProperty::Level level,
       const std::string & name,
       const std::string & text);
   
   protected Q_SLOTS:
     void handleMenuSelect(int menu_item_id);
   
   private:
     void publishPose();
   
     void updateControls(
       const std::vector<visualization_msgs::msg::InteractiveMarkerControl> & controls);
   
     void createMenu(const std::vector<visualization_msgs::msg::MenuEntry> & entries);
   
     void populateMenu(QMenu * menu, std::vector<uint32_t> & ids);
   
     QString makeMenuString(const std::string & entry);
   
     void updateReferencePose();
   
     rviz_common::DisplayContext * context_;
   
     std::string reference_frame_;
   
     rclcpp::Time reference_time_;
   
     bool frame_locked_;
   
     Ogre::SceneNode * reference_node_;
   
     Ogre::Vector3 position_;
   
     Ogre::Quaternion orientation_;
   
     bool pose_changed_;
   
     typedef std::shared_ptr<InteractiveMarkerControl> InteractiveMarkerControlPtr;
     typedef std::map<std::string, InteractiveMarkerControlPtr> M_ControlPtr;
   
     M_ControlPtr controls_;
   
     std::string name_;
   
     std::string description_;
   
     bool dragging_;
   
     bool pose_update_requested_;
   
     Ogre::Vector3 requested_position_;
   
     Ogre::Quaternion requested_orientation_;
   
     float scale_;
   
     std::shared_ptr<QMenu> menu_;
   
     bool has_menu_;
   
     struct MenuNode
     {
       visualization_msgs::msg::MenuEntry entry;
       std::vector<uint32_t> child_ids;
     };
   
     std::map<uint32_t, MenuNode> menu_entries_;
   
     std::vector<uint32_t> top_level_menu_ids_;
   
     std::string last_control_name_;
   
     double heart_beat_t_;
   
     // Visual aids
   
     std::unique_ptr<rviz_rendering::Axes> axes_;
   
     InteractiveMarkerControlPtr description_control_;
   
     std::string topic_ns_;
   
     std::string client_id_;
   
     std::recursive_mutex mutex_;
   
     std::shared_ptr<std::thread> sys_thread_;
   
     bool got_3d_point_for_menu_;
   
     Ogre::Vector3 three_d_point_for_menu_;
   
     bool show_visual_aids_;
   };  // class InteractiveMarker
   
   }  // namespace displays
   }  // namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__INTERACTIVE_MARKERS__INTERACTIVE_MARKER_HPP_