Program Listing for File pose_tool.hpp
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/*
* Copyright (c) 2008, 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:
*
* * 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 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"
* 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
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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*/
#ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__POSE__POSE_TOOL_HPP_
#define RVIZ_DEFAULT_PLUGINS__TOOLS__POSE__POSE_TOOL_HPP_
#include <memory>
#include <string>
#include <utility>
#include <OgreVector3.h>
#include <QCursor> // NOLINT cpplint cannot handle include order here
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "rviz_common/tool.hpp"
#include "rviz_rendering/viewport_projection_finder.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_rendering
{
class Arrow;
} // namespace rviz_rendering
namespace rviz_default_plugins
{
namespace tools
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC PoseTool : public rviz_common::Tool
{
public:
PoseTool();
~PoseTool() override;
void onInitialize() override;
void activate() override;
void deactivate() override;
int processMouseEvent(rviz_common::ViewportMouseEvent & event) override;
protected:
virtual void onPoseSet(double x, double y, double theta) = 0;
geometry_msgs::msg::Quaternion orientationAroundZAxis(double angle);
void logPose(
std::string designation,
geometry_msgs::msg::Point position,
geometry_msgs::msg::Quaternion orientation,
double angle,
std::string frame);
std::shared_ptr<rviz_rendering::Arrow> arrow_;
enum State
{
Position,
Orientation
};
State state_;
double angle_;
Ogre::Vector3 arrow_position_;
std::shared_ptr<rviz_rendering::ViewportProjectionFinder> projection_finder_;
private:
int processMouseLeftButtonPressed(std::pair<bool, Ogre::Vector3> xy_plane_intersection);
int processMouseMoved(std::pair<bool, Ogre::Vector3> xy_plane_intersection);
int processMouseLeftButtonReleased();
void makeArrowVisibleAndSetOrientation(double angle);
double calculateAngle(Ogre::Vector3 start_point, Ogre::Vector3 end_point);
};
} // namespace tools
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__TOOLS__POSE__POSE_TOOL_HPP_