interactive_frame_target.h
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1 /*
2  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9 
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 
18 #ifndef INTERACTIVE_FRAME_TARGET_H
19 #define INTERACTIVE_FRAME_TARGET_H
20 
21 #include <string>
22 #include <ros/ros.h>
23 
24 #include <std_srvs/Trigger.h>
25 #include <cob_srvs/SetString.h>
26 #include <geometry_msgs/PoseStamped.h>
27 
28 #include <tf/transform_listener.h>
30 #include <tf/transform_datatypes.h>
31 
34 
35 
36 
38 {
39 public:
42 
43  bool initialize();
44 
48 
49 private:
51  double update_rate_;
52 
53  std::string root_frame_;
54  std::string chain_tip_link_;
55  std::string tracking_frame_; // the frame tracking the target
56  std::string target_frame_; // the frame to be tracked
57 
60 
62  visualization_msgs::InteractiveMarker int_marker_;
63  visualization_msgs::InteractiveMarker int_marker_menu_;
65 
66  bool tracking_;
67  bool lookat_;
69  boost::mutex mutex_;
70 
74 
75  void updateMarker(const std::string& frame);
76  void sendTransform(const ros::TimerEvent& event);
77  void startTracking(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
78  void startLookat(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
79  void stop(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
80  void menuFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
81  void markerFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
82 };
83 
84 #endif
InteractiveFrameTarget::initialize
bool initialize()
Definition: interactive_frame_target.cpp:24
InteractiveFrameTarget::mutex_
boost::mutex mutex_
Definition: interactive_frame_target.h:69
InteractiveFrameTarget::stop_client_
ros::ServiceClient stop_client_
Definition: interactive_frame_target.h:73
InteractiveFrameTarget::InteractiveFrameTarget
InteractiveFrameTarget()
Definition: interactive_frame_target.h:40
InteractiveFrameTarget::start_tracking_client_
ros::ServiceClient start_tracking_client_
Definition: interactive_frame_target.h:71
ros.h
InteractiveFrameTarget::timer_
ros::Timer timer_
Definition: interactive_frame_target.h:50
menu_handler.h
InteractiveFrameTarget::~InteractiveFrameTarget
~InteractiveFrameTarget()
Definition: interactive_frame_target.h:41
InteractiveFrameTarget::stop
void stop(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Definition: interactive_frame_target.cpp:301
tf::StampedTransform
InteractiveFrameTarget::tracking_frame_
std::string tracking_frame_
Definition: interactive_frame_target.h:55
InteractiveFrameTarget::markerFeedback
void markerFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Definition: interactive_frame_target.cpp:323
transform_broadcaster.h
InteractiveFrameTarget::sendTransform
void sendTransform(const ros::TimerEvent &event)
Definition: interactive_frame_target.cpp:223
InteractiveFrameTarget::menuFeedback
void menuFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Definition: interactive_frame_target.cpp:318
InteractiveFrameTarget::int_marker_
visualization_msgs::InteractiveMarker int_marker_
Definition: interactive_frame_target.h:62
interactive_markers::MenuHandler
InteractiveFrameTarget::movable_rot_
bool movable_rot_
Definition: interactive_frame_target.h:59
tf::TransformBroadcaster
InteractiveFrameTarget::update_rate_
double update_rate_
Definition: interactive_frame_target.h:51
InteractiveFrameTarget::updateMarker
void updateMarker(const std::string &frame)
Definition: interactive_frame_target.cpp:233
ros::ServiceClient
ros::TimerEvent
InteractiveFrameTarget::int_marker_menu_
visualization_msgs::InteractiveMarker int_marker_menu_
Definition: interactive_frame_target.h:63
InteractiveFrameTarget
Definition: interactive_frame_target.h:37
interactive_markers::InteractiveMarkerServer
InteractiveFrameTarget::ia_server_
interactive_markers::InteractiveMarkerServer * ia_server_
Definition: interactive_frame_target.h:61
transform_listener.h
InteractiveFrameTarget::target_pose_
tf::StampedTransform target_pose_
Definition: interactive_frame_target.h:68
InteractiveFrameTarget::start_lookat_client_
ros::ServiceClient start_lookat_client_
Definition: interactive_frame_target.h:72
transform_datatypes.h
interactive_marker_server.h
InteractiveFrameTarget::tf_broadcaster_
tf::TransformBroadcaster tf_broadcaster_
Definition: interactive_frame_target.h:47
InteractiveFrameTarget::target_frame_
std::string target_frame_
Definition: interactive_frame_target.h:56
InteractiveFrameTarget::menu_handler_
interactive_markers::MenuHandler menu_handler_
Definition: interactive_frame_target.h:64
tf::TransformListener
InteractiveFrameTarget::chain_tip_link_
std::string chain_tip_link_
Definition: interactive_frame_target.h:54
InteractiveFrameTarget::tf_listener_
tf::TransformListener tf_listener_
Definition: interactive_frame_target.h:46
InteractiveFrameTarget::tracking_
bool tracking_
Definition: interactive_frame_target.h:66
InteractiveFrameTarget::startTracking
void startTracking(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Definition: interactive_frame_target.cpp:262
InteractiveFrameTarget::root_frame_
std::string root_frame_
Definition: interactive_frame_target.h:53
InteractiveFrameTarget::lookat_
bool lookat_
Definition: interactive_frame_target.h:67
ros::Timer
InteractiveFrameTarget::startLookat
void startLookat(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Definition: interactive_frame_target.cpp:280
ros::NodeHandle
InteractiveFrameTarget::nh_
ros::NodeHandle nh_
Definition: interactive_frame_target.h:45
InteractiveFrameTarget::movable_trans_
bool movable_trans_
Definition: interactive_frame_target.h:58


cob_frame_tracker
Author(s): Felix Messmer
autogenerated on Mon May 1 2023 02:44:25