.. _program_listing_file__tmp_ws_src_moveit_visual_tools_include_moveit_visual_tools_imarker_end_effector.h:

Program Listing for File imarker_end_effector.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_moveit_visual_tools_include_moveit_visual_tools_imarker_end_effector.h>` (``/tmp/ws/src/moveit_visual_tools/include/moveit_visual_tools/imarker_end_effector.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016 University of Colorado, Boulder
   //
   // 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 copyright holder 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 HOLDER 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
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Dave Coleman
      Desc:   Class to encapsule a visualized robot state that can be controlled using an interactive marker
   */
   
   #ifndef MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H
   #define MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   #include <interactive_markers/interactive_marker_server.hpp>
   #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
   #include <visualization_msgs/msg/interactive_marker.hpp>
   #include <interactive_markers/menu_handler.hpp>
   
   // MoveIt
   #include <moveit/robot_state/robot_state.h>
   
   // this package
   #include <moveit_visual_tools/moveit_visual_tools.h>
   #include <moveit_visual_tools/imarker_robot_state.h>
   
   // C++
   #include <string>
   #include <utility>
   
   #include <vector>
   
   namespace moveit_visual_tools
   {
   using visualization_msgs::msg::InteractiveMarkerControl;
   using visualization_msgs::msg::InteractiveMarkerFeedback;
   
   typedef std::function<void(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr&,
                              const Eigen::Isometry3d&)>
       IMarkerCallback;
   
   class IMarkerRobotState;
   
   class IMarkerEndEffector
   {
   public:
     IMarkerEndEffector(IMarkerRobotState* imarker_parent, const std::string& imarker_name, ArmData arm_data,
                        rviz_visual_tools::Colors color);
   
     ~IMarkerEndEffector()
     {
     }
   
     void getPose(Eigen::Isometry3d& pose);
   
     bool setPoseFromRobotState();
   
     void iMarkerCallback(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
   
     void solveIK(Eigen::Isometry3d& pose);
   
     void initializeInteractiveMarkers();
   
     void updateIMarkerPose(const Eigen::Isometry3d& pose);
   
     void sendUpdatedIMarkerPose();
   
     void make6DofMarker(const geometry_msgs::msg::Pose& pose);
   
     visualization_msgs::msg::InteractiveMarkerControl& makeBoxControl(visualization_msgs::msg::InteractiveMarker& msg);
   
     void setCollisionCheckingVerbose(bool collision_checking_verbose)
     {
       collision_checking_verbose_ = collision_checking_verbose;
     }
   
     void setOnlyCheckSelfCollision(bool only_check_self_collision)
     {
       only_check_self_collision_ = only_check_self_collision;
     }
   
     void setUseCollisionChecking(bool use_collision_checking)
     {
       use_collision_checking_ = use_collision_checking;
     }
   
     void setIMarkerCallback(const IMarkerCallback& callback)
     {
       imarker_callback_ = std::move(callback);
     }
   
     const moveit::core::LinkModel* getEELink()
     {
       return arm_data_.ee_link_;
     }
   
   private:
     // --------------------------------------------------------
   
     // The short name of this class
     std::string name_;
   
     // Pointer to parent
     IMarkerRobotState* imarker_parent_;
   
     // State
     moveit::core::RobotStatePtr imarker_state_;
     Eigen::Isometry3d imarker_pose_;
   
     // Core MoveIt components
     planning_scene_monitor::PlanningSceneMonitorPtr psm_;
   
     // Visual tools
     moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;
   
     // Settings
     ArmData arm_data_;
     rviz_visual_tools::Colors color_ = rviz_visual_tools::PURPLE;
   
     // File saving
     rclcpp::Time time_since_last_save_;
   
     // Interactive markers
     // interactive_markers::MenuHandler menu_handler_;
     visualization_msgs::msg::InteractiveMarker int_marker_;
     bool imarker_ready_to_process_ = true;
     std::mutex imarker_mutex_;
   
     InteractiveMarkerServerPtr imarker_server_;
   
     // Verbose settings
     bool collision_checking_verbose_ = false;
     bool only_check_self_collision_ = false;
     bool use_collision_checking_ = false;
   
     // Hook to parent class
     IMarkerCallback imarker_callback_;
   
     // Clock
     rclcpp::Clock clock_;
   
   public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };  // end class
   
   // Create std pointers for this class
   typedef std::shared_ptr<IMarkerEndEffector> IMarkerEndEffectorPtr;
   typedef std::shared_ptr<const IMarkerEndEffector> IMarkerEndEffectorConstPtr;
   }  // namespace moveit_visual_tools
   
   #endif  // MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H