imarker_simple.h

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/* Author: Dave Coleman
   Desc:   Use interactive markers in a C++ class
*/

#ifndef RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H
#define RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H

// ROS
#include <ros/ros.h>

#include <geometry_msgs/PoseStamped.h>

#include <interactive_markers/interactive_marker_server.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <interactive_markers/menu_handler.h>
#include <Eigen/Geometry>

// C++
#include <string>

namespace rviz_visual_tools
{
using visualization_msgs::InteractiveMarkerFeedback;
using visualization_msgs::InteractiveMarkerControl;

typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> IMarkerCallback;

namespace
{
geometry_msgs::Pose getIdentityPose()
{
  geometry_msgs::Pose pose;
  pose.orientation.w = 1.0;
  return pose;
}
}

class IMarkerSimple
{
public:
  explicit IMarkerSimple(const std::string& name = "imarker", double scale = 0.2,
                         const geometry_msgs::Pose& initial_pose = getIdentityPose());

  geometry_msgs::Pose& getPose();

  void setPose(const Eigen::Affine3d& pose);

  void setPose(const geometry_msgs::Pose& pose);

  void iMarkerCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void setIMarkerCallback(IMarkerCallback callback)
  {
    imarker_callback_ = callback;
  }

private:
  void sendUpdatedIMarkerPose();

  void make6DofMarker(const geometry_msgs::Pose& pose, double scale = 0.2);

  // --------------------------------------------------------

  // The short name of this class
  std::string name_ = "imarker_simple";

  // A shared node handle
  ros::NodeHandle nh_;

  geometry_msgs::Pose latest_pose_;

  // Interactive markers
  std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;

  // Interactive markers
  // interactive_markers::MenuHandler menu_handler_;
  visualization_msgs::InteractiveMarker int_marker_;

  // Hook to parent class
  IMarkerCallback imarker_callback_;
};  // end class

// Create std pointers for this class
typedef std::shared_ptr<IMarkerSimple> IMarkerSimplePtr;
typedef std::shared_ptr<const IMarkerSimple> IMarkerSimpleConstPtr;

}  // namespace rviz_visual_tools
#endif  // RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H