00001 /* 00002 * Copyright (c) 2008, 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_POSE_TOOL_H 00031 #define RVIZ_POSE_TOOL_H 00032 00033 #include <OgreVector3.h> 00034 00035 #include <QCursor> 00036 00037 #include <ros/ros.h> 00038 00039 #include "rviz/tool.h" 00040 00041 namespace rviz 00042 { 00043 class Arrow; 00044 class DisplayContext; 00045 00046 class PoseTool: public Tool 00047 { 00048 public: 00049 PoseTool(); 00050 virtual ~PoseTool(); 00051 00052 virtual void onInitialize(); 00053 00054 virtual void activate(); 00055 virtual void deactivate(); 00056 00057 virtual int processMouseEvent( ViewportMouseEvent& event ); 00058 00059 protected: 00060 virtual void onPoseSet( double x, double y, double theta ) = 0; 00061 00062 Arrow* arrow_; 00063 00064 enum State 00065 { 00066 Position, 00067 Orientation 00068 }; 00069 State state_; 00070 00071 Ogre::Vector3 pos_; 00072 }; 00073 00074 } 00075 00076 #endif 00077 00078