imarker_simple.h
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34 
35 /* Author: Dave Coleman
36  Desc: Use interactive markers in a C++ class
37 */
38 
39 #ifndef RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H
40 #define RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H
41 
42 // ROS
43 #include <ros/ros.h>
44 
45 #include <geometry_msgs/PoseStamped.h>
46 
48 #include <visualization_msgs/InteractiveMarkerFeedback.h>
49 #include <visualization_msgs/InteractiveMarker.h>
51 #include <Eigen/Geometry>
52 
53 // C++
54 #include <string>
55 
57 {
58 using visualization_msgs::InteractiveMarkerFeedback;
59 using visualization_msgs::InteractiveMarkerControl;
60 
61 typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> IMarkerCallback;
62 
63 namespace
64 {
65 geometry_msgs::Pose getIdentityPose()
66 {
67  geometry_msgs::Pose pose;
68  pose.orientation.w = 1.0;
69  return pose;
70 }
71 }
72 
74 {
75 public:
76  explicit IMarkerSimple(const std::string& name = "imarker", double scale = 0.2,
77  const geometry_msgs::Pose& initial_pose = getIdentityPose());
78 
79  geometry_msgs::Pose& getPose();
80 
81  void setPose(const Eigen::Isometry3d& pose);
82 
83  void setPose(const geometry_msgs::Pose& pose);
84 
85  void iMarkerCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
86 
87  void setIMarkerCallback(IMarkerCallback callback)
88  {
89  imarker_callback_ = callback;
90  }
91 
92 private:
94 
95  void make6DofMarker(const geometry_msgs::Pose& pose, double scale = 0.2);
96 
97  // --------------------------------------------------------
98 
99  // The short name of this class
100  std::string name_ = "imarker_simple";
101 
102  // A shared node handle
104 
105  geometry_msgs::Pose latest_pose_;
106 
107  // Interactive markers
108  std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;
109 
110  // Interactive markers
111  // interactive_markers::MenuHandler menu_handler_;
112  visualization_msgs::InteractiveMarker int_marker_;
113 
114  // Hook to parent class
115  IMarkerCallback imarker_callback_;
116 }; // end class
117 
118 // Create std pointers for this class
119 typedef std::shared_ptr<IMarkerSimple> IMarkerSimplePtr;
120 typedef std::shared_ptr<const IMarkerSimple> IMarkerSimpleConstPtr;
121 
122 } // namespace rviz_visual_tools
123 #endif // RVIZ_VISUAL_TOOLS_IMARKER_SIMPLE_H
std::function< void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &)> IMarkerCallback
visualization_msgs::InteractiveMarker int_marker_
geometry_msgs::Pose latest_pose_
std::shared_ptr< interactive_markers::InteractiveMarkerServer > imarker_server_
std::shared_ptr< const IMarkerSimple > IMarkerSimpleConstPtr
void iMarkerCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void setIMarkerCallback(IMarkerCallback callback)
IMarkerSimple(const std::string &name="imarker", double scale=0.2, const geometry_msgs::Pose &initial_pose=getIdentityPose())
void setPose(const Eigen::Isometry3d &pose)
geometry_msgs::Pose & getPose()
std::shared_ptr< IMarkerSimple > IMarkerSimplePtr
void make6DofMarker(const geometry_msgs::Pose &pose, double scale=0.2)


rviz_visual_tools
Author(s): Dave Coleman
autogenerated on Mon Feb 28 2022 23:43:06