MultiRobotGoalSelector.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef MULTI_ROBOT_GOAL_SELECTOR_H
#define MULTI_ROBOT_GOAL_SELECTOR_H
 
#include <rviz/tool.h>
#include <ros/ros.h>
#include <rviz/properties/vector_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/ogre_helpers/arrow.h>
#include <memory>
#include "TextVisual.h"
 
#include <geometry_msgs/Pose.h>
 
namespace Ogre
{
class SceneNode;
class Vector3;
class Quaternion;
}
 
namespace rviz
{
class VectorProperty;
class IntProperty;
class FloatProperty;
class StringProperty;
class VisualizationManager;
class ViewportMouseEvent;
}
 
namespace tuw_multi_robot_rviz
{
 
// BEGIN_TUTORIAL
// Here we declare our new subclass of rviz::Tool.  Every tool
// which can be added to the tool bar is a subclass of
// rviz::Tool.
class MultiRobotGoalSelector: public rviz::Tool
{
Q_OBJECT
public:
  MultiRobotGoalSelector( );
  ~MultiRobotGoalSelector();
 
  virtual void onInitialize();
 
  virtual void activate();
  virtual void deactivate();
 
  virtual int processMouseEvent( rviz::ViewportMouseEvent& event );
 
protected Q_SLOTS:
  void onRobotNrChanged();
 
private:
  enum state {
    Position,
    Orientation
  };
 
  void make_quaternion(geometry_msgs::Pose::_orientation_type &q, double pitch, double roll, double yaw);
  void make_quaternion(Ogre::Quaternion &q, double pitch, double roll, double yaw);
  void makeFlag( const Ogre::Vector3& position, const Ogre::Quaternion &orientation);
 
  ros::NodeHandle nh_;
  ros::Publisher pubGoals_;
  std::vector<Ogre::SceneNode*> flag_nodes_;
  Ogre::SceneNode* moving_flag_node_;
  std::string flag_resource_;
  rviz::VectorProperty* current_flag_property_;
  rviz::IntProperty* nr_robots_;
  std::vector<rviz::StringProperty*> robot_names_;
  rviz::Property *group_robot_names_;
  rviz::Property *group_robot_goals_;
  std::unique_ptr<rviz::Arrow> arrow_;
  std::unique_ptr<rviz::Arrow> arrow_robot2flag_;
  state state_;
  std::vector<double> flag_angles_;
  std::vector<std::unique_ptr<rviz::Arrow>> arrows_robot2flag_;
  std::vector<Ogre::Vector3> flag_positions_;
  
  uint32_t currentRobotNr_;
  uint32_t maxRobots_; 
  uint32_t robotCount_;
};
// END_TUTORIAL
 
} // end namespace rviz_plugin_tutorials
 
#endif // PLANT_FLAG_TOOL_H