#include <interactive_roi_selection.h>

Public Member Functions
bool	getInteractiveRoi (rc_pick_client::RegionOfInterest &roi)
	Provides the region of interest from the server. More...

	InteractiveRoiSelection ()
	Constructor. More...

bool	setInteractiveRoi (const rc_pick_client::RegionOfInterest &roi)
	Sets a new region of interest in the server. More...

virtual	~InteractiveRoiSelection ()

Private Member Functions
void	computeVectorRotation (const tf::Vector3 &v, const tf::Quaternion &q, tf::Vector3 &rot_v)
	Compute the rotation of a vector by a quaternion. More...

void	makeBoxControls (visualization_msgs::InteractiveMarker &interactive_marker, bool is_center)
	Generate controls of a box interactive marker. More...

void	makeInteractiveMarker (std::string int_marker_name, std::string int_marker_description, const tf::Vector3 &position, bool is_center, tf::Vector3 box_dimensions, tf::Quaternion box_orientation)
	Generate an interactive marker. More...

visualization_msgs::Marker	makeMarker (tf::Vector3 box_dimensions, bool is_center)
	Generate a marker. More...

void	makeSphereControls (visualization_msgs::InteractiveMarker &interactive_marker, bool is_center)
	Generate controls of a sphere interactive marker. More...

void	processRoiPoseFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process changes on the position and rotation of the region of interest. More...

void	processRoiSizeFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process changes on the region of interest's size. More...

void	processSphereSizeFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process changes on the region of interest's size. More...

void	updateCenterMarker ()
	Update the center interactive marker in rviz. More...

Private Attributes
tf::Quaternion	center_orientation_

tf::Vector3	center_position_

tf::Vector3	dimensions_

rc_pick_client::RegionOfInterest	interactive_roi_

std::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< interactive_markers::InteractiveMarkerServer >	server_

Detailed Description

Definition at line 44 of file interactive_roi_selection.h.

Constructor & Destructor Documentation

rc_roi_manager_gui::InteractiveRoiSelection::InteractiveRoiSelection ( )

Constructor.

Definition at line 39 of file interactive_roi_selection.cc.

rc_roi_manager_gui::InteractiveRoiSelection::~InteractiveRoiSelection ( )

virtual

Definition at line 46 of file interactive_roi_selection.cc.

Member Function Documentation

void rc_roi_manager_gui::InteractiveRoiSelection::computeVectorRotation	(	const tf::Vector3 &	v,
		const tf::Quaternion &	q,
		tf::Vector3 &	rot_v
	)

private

Compute the rotation of a vector by a quaternion.

Parameters

v	Vector to be rotated
q	Quaternion that provides the wanted rotation
rot_v	Rotated vector

Definition at line 52 of file interactive_roi_selection.cc.

bool rc_roi_manager_gui::InteractiveRoiSelection::getInteractiveRoi ( rc_pick_client::RegionOfInterest & roi )

Provides the region of interest from the server.

Parameters

roi	Region of interest

Returns

Definition at line 384 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::makeBoxControls	(	visualization_msgs::InteractiveMarker &	interactive_marker,
		bool	is_center
	)

private

Generate controls of a box interactive marker.

Parameters

interactive_marker	Interactive marker
is_center	Set if the marker to create is the center of the region of interest

Definition at line 241 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::makeInteractiveMarker	(	std::string	int_marker_name,
		std::string	int_marker_description,
		const tf::Vector3 &	position,
		bool	is_center,
		tf::Vector3	box_dimensions,
		tf::Quaternion	box_orientation
	)

private

Generate an interactive marker.

Parameters

int_marker_name	Interactive marker's name
int_marker_description	Interactive marker's description
position	Position of the interactive marker
is_center	Set if the marker to create is the center of the region of interest
box_dimensions	Dimensions of the interactive marker
box_orientation	Orientation of the interactive marker

Definition at line 292 of file interactive_roi_selection.cc.

visualization_msgs::Marker rc_roi_manager_gui::InteractiveRoiSelection::makeMarker	(	tf::Vector3	box_dimensions,
		bool	is_center
	)

private

Generate a marker.

Parameters

box_dimensions	Dimensions of the marker
is_center	Set if the marker to create is the center of the region of interest

Returns: Generated marker

Definition at line 162 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::makeSphereControls	(	visualization_msgs::InteractiveMarker &	interactive_marker,
		bool	is_center
	)

private

Generate controls of a sphere interactive marker.

Parameters

interactive_marker	Interactive marker
is_center	Set if the marker to create is the center of the region of interest

Definition at line 193 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::processRoiPoseFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Process changes on the position and rotation of the region of interest.

Parameters

feedback center marker with updates done in rviz

Definition at line 59 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::processRoiSizeFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Process changes on the region of interest's size.

Parameters

feedback corner marker with updates done in rviz

Definition at line 145 of file interactive_roi_selection.cc.

void rc_roi_manager_gui::InteractiveRoiSelection::processSphereSizeFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Process changes on the region of interest's size.

Parameters

feedback corner marker with updates done in rviz

Definition at line 128 of file interactive_roi_selection.cc.

bool rc_roi_manager_gui::InteractiveRoiSelection::setInteractiveRoi ( const rc_pick_client::RegionOfInterest & roi )

Sets a new region of interest in the server.

Parameters