trajectory.h

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/* Author: Mario Prats */

#ifndef BT_TRAJECTORY
#define BT_TRAJECTORY

#ifndef Q_MOC_RUN
#include <frame_marker.h>
#include <moveit/macros/class_forward.h>
#endif

namespace benchmark_tool
{
MOVEIT_CLASS_FORWARD(Trajectory);

/* Implements functionality to create and manage straight and arc trajectories with interactive markers
 */
class Trajectory : public QObject
{
  Q_OBJECT

public Q_SLOTS:
  void trajectoryMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
  void handMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
  void startMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
  void endMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);

public:
  static const int TRAJECTORY_SET_START_POSE = 1;
  static const int TRAJECTORY_SET_END_POSE = 2;
  static const int TRAJECTORY_EDIT_CONTROL_FRAME = 3;
  static const int TRAJECTORY_FIX_CONTROL_FRAME = 4;

  static const std::string TRAJECTORY_SET_START_POSE_STRING;
  static const std::string TRAJECTORY_SET_END_POSE_STRING;
  static const std::string TRAJECTORY_EDIT_CONTROL_FRAME_STRING;
  static const std::string TRAJECTORY_FIX_CONTROL_FRAME_STRING;

  GripperMarkerPtr control_marker;
  GripperMarkerPtr hand_marker;
  GripperMarkerPtr start_marker, end_marker;
  std::vector<GripperMarkerPtr> waypoint_markers;

  Eigen::Affine3d control_marker_start_pose;  // The control marker pose corresponding to the start marker
  Eigen::Affine3d control_marker_end_pose;    // The control marker pose corresponding to the end marker

  Trajectory(const robot_state::RobotState& robot_state, Ogre::SceneNode* parent_node, rviz::DisplayContext* context,
             const std::string& name, const std::string& frame_id,
             const robot_interaction::RobotInteraction::EndEffector& eef, const geometry_msgs::Pose& pose, double scale,
             const GripperMarker::GripperMarkerState& state, unsigned int nwaypoints, bool is_selected = true,
             bool visible_x = true, bool visible_y = true, bool visible_z = true);

  void setControlMarker(const GripperMarkerPtr control_marker);

  void setNumberOfWaypoints(unsigned int n)
  {
    nwaypoints_ = n;
    if (waypoint_markers.size())
    {
      rebuildWayPointMarkers();
    }
  }

  void hide()
  {
    if (control_marker)
      control_marker->hide();
    if (hand_marker)
      hand_marker->hide();
    if (start_marker)
      start_marker->hide();
    if (end_marker)
      end_marker->hide();
    for (std::vector<GripperMarkerPtr>::iterator it = waypoint_markers.begin(); it != waypoint_markers.end(); ++it)
    {
      (*it)->hide();
    }
  }

  void show(Ogre::SceneNode* scene_node, rviz::DisplayContext* context)
  {
    if (control_marker)
      control_marker->show(scene_node, context);
    if (hand_marker)
      hand_marker->show(scene_node, context);
    if (start_marker)
      start_marker->show(scene_node, context);
    if (end_marker)
      end_marker->show(scene_node, context);
    for (std::vector<GripperMarkerPtr>::iterator it = waypoint_markers.begin(); it != waypoint_markers.end(); ++it)
    {
      (*it)->show(scene_node, context);
    }
  }

  ~Trajectory()
  {
  }

protected:
  void createControlMarker(const robot_state::RobotState& robot_state, Ogre::SceneNode* parent_node,
                           rviz::DisplayContext* context, const std::string& name, const std::string& frame_id,
                           const robot_interaction::RobotInteraction::EndEffector& eef, const geometry_msgs::Pose& pose,
                           double scale, const GripperMarker::GripperMarkerState& state, bool is_selected = true,
                           bool visible_x = true, bool visible_y = true, bool visible_z = true);

  void createHandMarker();
  void createStartMarker();
  void createEndMarker();

  void connectControlMarker();
  void connectHandMarker();
  void connectStartMarker();
  void connectEndMarker();

  void rebuildWayPointMarkers();

private:
  void editControlFrame();
  void fixControlFrame();

  Eigen::Affine3d hand_marker_start_pose;
  Eigen::Affine3d control_marker_drag_start_pose;

  bool dragging_;

  unsigned int nwaypoints_;

  typedef enum { CONTROL_MARKER_FLOATING, CONTROL_MARKER_FIXED } ControlMarkerModeType;
  ControlMarkerModeType control_marker_mode_;
};
}

#endif