selection_handler.h
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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_SELECTION_HANDLER_H
00031 #define RVIZ_SELECTION_HANDLER_H
00032 
00033 #include <vector>
00034 #include <set>
00035 
00036 #ifndef Q_MOC_RUN
00037 #include <boost/shared_ptr.hpp>
00038 #include <boost/unordered_map.hpp>
00039 
00040 #include <OgreMovableObject.h>
00041 #endif
00042 
00043 #include "rviz/selection/forwards.h"
00044 #include "rviz/selection/selection_handler.h"
00045 #include "rviz/viewport_mouse_event.h"
00046 #include "rviz/interactive_object.h"
00047 
00048 namespace Ogre
00049 {
00050 class WireBoundingBox;
00051 class SceneNode;
00052 class MovableObject;
00053 }
00054 
00055 namespace rviz
00056 {
00057 
00058 class DisplayContext;
00059 class Property;
00060 class ViewportMouseEvent;
00061 
00062 typedef std::vector<Ogre::AxisAlignedBox> V_AABB;
00063 
00064 class SelectionHandler
00065 {
00066 public:
00067   SelectionHandler( DisplayContext* context );
00068   virtual ~SelectionHandler();
00069 
00070   void addTrackedObjects( Ogre::SceneNode* node );
00071   void addTrackedObject(Ogre::MovableObject* object);
00072   void removeTrackedObject(Ogre::MovableObject* object);
00073 
00074   virtual void updateTrackedBoxes();
00075 
00083   virtual void createProperties( const Picked& obj, Property* parent_property ) {}
00084 
00092   virtual void destroyProperties( const Picked& obj, Property* parent_property );
00093 
00103   virtual void updateProperties() {}
00104 
00105   virtual bool needsAdditionalRenderPass(uint32_t pass)
00106   {
00107     return false;
00108   }
00109 
00110   virtual void preRenderPass(uint32_t pass);
00111   virtual void postRenderPass(uint32_t pass);
00112 
00113   virtual void getAABBs(const Picked& obj, V_AABB& aabbs);
00114 
00115   virtual void onSelect(const Picked& obj);
00116   virtual void onDeselect(const Picked& obj);
00117 
00120   virtual void setInteractiveObject( InteractiveObjectWPtr object );
00121 
00129   virtual InteractiveObjectWPtr getInteractiveObject();
00130 
00131   CollObjectHandle getHandle() const { return pick_handle_; }
00132 
00133 protected:
00135   void createBox(const std::pair<CollObjectHandle, uint64_t>& handles, const Ogre::AxisAlignedBox& aabb, const std::string& material_name);
00136 
00138   void destroyBox(const std::pair<CollObjectHandle, uint64_t>& handles);
00139 
00140   QList<Property*> properties_;
00141 
00142   typedef std::map<std::pair<CollObjectHandle, uint64_t>, std::pair<Ogre::SceneNode*, Ogre::WireBoundingBox*> > M_HandleToBox;
00143   M_HandleToBox boxes_;
00144 
00145   DisplayContext* context_;
00146 
00147   typedef std::set<Ogre::MovableObject*> S_Movable;
00148   S_Movable tracked_objects_;
00149 
00150   class Listener : public Ogre::MovableObject::Listener
00151   {
00152   public:
00153     Listener(SelectionHandler* handler)
00154     : handler_(handler)
00155     {}
00156     virtual void objectMoved(Ogre::MovableObject* object)
00157     {
00158       handler_->updateTrackedBoxes();
00159     }
00160 
00161     virtual void objectDestroyed(Ogre::MovableObject* object)
00162     {
00163       handler_->removeTrackedObject(object);
00164     }
00165 
00166     SelectionHandler* handler_;
00167   };
00168   typedef boost::shared_ptr<Listener> ListenerPtr;
00169   ListenerPtr listener_;
00170 
00171   InteractiveObjectWPtr interactive_object_;
00172 
00173 private:
00174   // pick_handle_ must never be changed, otherwise the destructor will
00175   // call removeObject() with the wrong handle.  Use getHandle() to
00176   // access the value.
00177   CollObjectHandle pick_handle_;
00178 
00179   friend class SelectionManager;
00180 };
00181 
00182 typedef boost::shared_ptr<SelectionHandler> SelectionHandlerPtr;
00183 typedef std::vector<SelectionHandlerPtr> V_SelectionHandler;
00184 typedef std::set<SelectionHandlerPtr> S_SelectionHandler;
00185 
00186 }
00187 
00188 #endif


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:16