point_head_camera_display.cpp

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/*
 * Copyright (c) 2011, 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:
 *
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 *       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
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 *     * 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
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#include "pr2_interactive_manipulation/point_head_camera_display.h"

#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/properties/property.h>
#include <rviz/properties/property_manager.h>

#include <pr2_controllers_msgs/PointHeadAction.h>


namespace pr2_interactive_manipulation
{

PointHeadCameraDisplay::PointHeadCameraDisplay():
  rviz::CameraDisplay(),
  point_head_view_controller_( NULL )
{
}

void PointHeadCameraDisplay::onInitialize()
{
  CameraDisplay::onInitialize();

  //assign a PointHeadViewController to our render panel,
  //so it receives the mouse events while the "Move Camera" tool is active
  point_head_view_controller_ = new PointHeadViewController( texture_, vis_manager_, name_ );
  render_panel_->setViewController( point_head_view_controller_ );

  setPointHeadTopic( "/head_traj_controller/point_head_action/goal" );
}

PointHeadCameraDisplay::~PointHeadCameraDisplay()
{
  //point_head_view_controller_ will be deleted by render_panel_
}

void PointHeadCameraDisplay::createProperties()
{
  point_head_topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( 
                                       "Point Head Action Topic", property_prefix_, 
                                       boost::bind( &PointHeadCameraDisplay::getPointHeadTopic, this ),
                                       boost::bind( &PointHeadCameraDisplay::setPointHeadTopic, this, _1 ), 
                                       parent_category_, this );
  setPropertyHelpText(point_head_topic_property_, "Action topic where to send the point head commands to.");
  rviz::ROSTopicStringPropertyPtr topic_prop = point_head_topic_property_.lock();
  topic_prop->setMessageType(ros::message_traits::datatype< pr2_controllers_msgs::PointHeadActionGoal >());

  CameraDisplay::createProperties();
}

void PointHeadCameraDisplay::setPointHeadTopic(const std::string& topic)
{
  point_head_view_controller_->setTopic( topic );
  propertyChanged(point_head_topic_property_);
}

const std::string& PointHeadCameraDisplay::getPointHeadTopic()
{
  return point_head_view_controller_->getTopic();
}

}