interaction.h

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/* Author: Acorn Pooley */

#ifndef MOVEIT_ROBOT_INTERACTION_INTERACTION_
#define MOVEIT_ROBOT_INTERACTION_INTERACTION_

#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <interactive_markers/menu_handler.h>
#include <moveit/robot_state/robot_state.h>
#include <boost/function.hpp>
#include <boost/thread.hpp>
#include <tf/tf.h>

namespace moveit
{
namespace core
{
class RobotState;
}
}

namespace robot_interaction
{

namespace InteractionStyle
{
  enum InteractionStyle
  {
    POSITION_ARROWS = 1,      // arrows to change position
    ORIENTATION_CIRCLES = 2,  // circles to change orientation
    POSITION_SPHERE = 4,      // sphere: drag to change position
    ORIENTATION_SPHERE = 8,   // sphere: drag to change orientation
    POSITION_EEF = 16,        // drag end effector to change position
    ORIENTATION_EEF = 32,     // drag end effector to change orientation
    FIXED = 64,               // keep arrow and circle axis fixed

    POSITION = POSITION_ARROWS |
               POSITION_SPHERE |
               POSITION_EEF,
    ORIENTATION = ORIENTATION_CIRCLES |
                  ORIENTATION_SPHERE |
                  ORIENTATION_EEF,
    SIX_DOF = POSITION |
           ORIENTATION,
    SIX_DOF_SPHERE = POSITION_SPHERE |
                  ORIENTATION_SPHERE,
    POSITION_NOSPHERE = POSITION_ARROWS |
                        POSITION_EEF,
    ORIENTATION_NOSPHERE = ORIENTATION_CIRCLES |
                           ORIENTATION_EEF,
    SIX_DOF_NOSPHERE = POSITION_NOSPHERE |
                    ORIENTATION_NOSPHERE
  };
}

typedef boost::function<bool(
          const robot_state::RobotState& state,
          visualization_msgs::InteractiveMarker& marker)>
                                                InteractiveMarkerConstructorFn;

typedef boost::function<bool(
    robot_state::RobotState& state,
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback)>
                                                ProcessFeedbackFn;

typedef boost::function<bool(
          const robot_state::RobotState&,
          geometry_msgs::Pose&)>
                                                InteractiveMarkerUpdateFn;

struct GenericInteraction
{
  // Callback to construct interactive marker.
  // See comment on typedef above.
  InteractiveMarkerConstructorFn construct_marker;

  // Callback to handle interactive marker feedback messages.
  // See comment on typedef above.
  ProcessFeedbackFn process_feedback;

  // Callback to update marker pose when RobotState changes.
  // See comment on typedef above.
  InteractiveMarkerUpdateFn update_pose;

  // Suffix added to name of markers.
  // Automatically generated.
  std::string marker_name_suffix;
};

struct EndEffectorInteraction
{
  std::string parent_group;

  std::string parent_link;

  std::string eef_group;

  InteractionStyle::InteractionStyle interaction;

  double size;

};

struct JointInteraction
{
  std::string connecting_link;

  std::string parent_frame;

  std::string joint_name;

  unsigned int dof;

  double size;
};

}

#endif