00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_INITIAL_POSE_TOOL_H 00031 #define RVIZ_INITIAL_POSE_TOOL_H 00032 00033 #ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 00034 # include <QObject> 00035 00036 # include <ros/ros.h> 00037 00038 # include "rviz/default_plugin/tools/pose_tool.h" 00039 #endif 00040 00041 namespace rviz 00042 { 00043 class Arrow; 00044 class DisplayContext; 00045 class StringProperty; 00046 00047 class InitialPoseTool: public PoseTool 00048 { 00049 Q_OBJECT 00050 public: 00051 InitialPoseTool(); 00052 virtual ~InitialPoseTool() {} 00053 virtual void onInitialize(); 00054 00055 protected: 00056 virtual void onPoseSet(double x, double y, double theta); 00057 00058 private Q_SLOTS: 00059 void updateTopic(); 00060 00061 private: 00062 ros::NodeHandle nh_; 00063 ros::Publisher pub_; 00064 00065 StringProperty* topic_property_; 00066 }; 00067 00068 } 00069 00070 #endif 00071 00072