.. _program_listing_file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_imarker_simple.hpp:

Program Listing for File imarker_simple.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_imarker_simple.hpp>` (``/tmp/ws/src/rviz_visual_tools/include/rviz_visual_tools/imarker_simple.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 PickNik Inc.
   //
   // 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 PickNik 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 HOLDER 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.
   
   /* Author: Dave Coleman
      Desc:   Use interactive markers in a C++ class
   */
   
   #pragma once
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   
   #include <geometry_msgs/msg/pose_stamped.hpp>
   
   #include <interactive_markers/interactive_marker_server.hpp>
   #include <utility>
   
   #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
   #include <visualization_msgs/msg/interactive_marker.hpp>
   #include <interactive_markers/menu_handler.hpp>
   #include <Eigen/Geometry>
   
   // C++
   #include <string>
   
   namespace rviz_visual_tools
   {
   typedef std::function<void(
       const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr&)>
       IMarkerCallback;
   
   namespace
   {
   geometry_msgs::msg::Pose getIdentityPose()
   {
     geometry_msgs::msg::Pose pose;
     pose.orientation.w = 1.0;
     return pose;
   }
   }  // namespace
   
   class IMarkerSimple
   {
   public:
     template <typename NodePtr>
     IMarkerSimple(NodePtr node, const std::string& imarker_topic_name = "imarker", double scale = 0.2,
                   const geometry_msgs::msg::Pose& initial_pose = getIdentityPose(),
                   const std::string& parent_frame = "world",
                   const rclcpp::QoS& update_pub_qos = rclcpp::QoS(1),
                   const rclcpp::QoS& feedback_sub_qos = rclcpp::QoS(1))
       : IMarkerSimple(node->get_node_base_interface(), node->get_node_clock_interface(),
                       node->get_node_logging_interface(), node->get_node_topics_interface(),
                       node->get_node_services_interface(), imarker_topic_name, scale, initial_pose,
                       parent_frame)
     {
     }
   
     IMarkerSimple(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr& node_base_interface,
                   const rclcpp::node_interfaces::NodeClockInterface::SharedPtr& clock_interface,
                   const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr& logging_interface,
                   const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr& topics_interface,
                   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr& services_interface,
                   const std::string& imarker_topic_name = "imarker", double scale = 0.2,
                   const geometry_msgs::msg::Pose& initial_pose = getIdentityPose(),
                   const std::string& parent_frame = "world",
                   const rclcpp::QoS& update_pub_qos = rclcpp::QoS(1),
                   const rclcpp::QoS& feedback_sub_qos = rclcpp::QoS(1));
   
     geometry_msgs::msg::Pose& getPose();
   
     void setPose(const Eigen::Isometry3d& pose);
   
     void setPose(const geometry_msgs::msg::Pose& pose);
   
     void iMarkerCallback(
         const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
   
     void setIMarkerCallback(IMarkerCallback callback)
     {
       imarker_callback_ = std::move(callback);
     }
   
   private:
     void sendUpdatedIMarkerPose();
   
     void make6DofMarker(const geometry_msgs::msg::Pose& pose = getIdentityPose(), double scale = 0.2,
                         const std::string& parent_frame = "world");
   
     // --------------------------------------------------------
     // Node Interfaces
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_;
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface_;
     rclcpp::Logger logger_;
   
     geometry_msgs::msg::Pose latest_pose_;
   
     // Interactive markers
     std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;
   
     // Interactive markers
     // interactive_markers::MenuHandler menu_handler_;
     visualization_msgs::msg::InteractiveMarker int_marker_;
     // The int_marker_.id
     static const std::string IMARKER_NAME;  // "imarker_simple";
   
     // Hook to parent class
     IMarkerCallback imarker_callback_;
   };  // end class
   
   // Create std pointers for this class
   typedef std::shared_ptr<IMarkerSimple> IMarkerSimplePtr;
   typedef std::shared_ptr<const IMarkerSimple> IMarkerSimpleConstPtr;
   
   }  // namespace rviz_visual_tools