point_head_camera_display.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * 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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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef POINT_HEAD_CAMERA_DISPLAY_H_
#define POINT_HEAD_CAMERA_DISPLAY_H_

#include <rviz/default_plugin/camera_display.h>

#include "pr2_interactive_manipulation/point_head_view_controller.h"

namespace pr2_interactive_manipulation
{

// extends the default camera display of rviz so that
// the user can control the robot's head by clicking with the mouse
class PointHeadCameraDisplay: public rviz::CameraDisplay
{
public:
  PointHeadCameraDisplay();
  virtual ~PointHeadCameraDisplay();
  virtual void onInitialize();

  virtual void createProperties();

  const std::string& getPointHeadTopic();
  void setPointHeadTopic(const std::string& topic);

private:

  rviz::ROSTopicStringPropertyWPtr point_head_topic_property_;

  PointHeadViewController *point_head_view_controller_;
};

}

#endif /* POINT_HEAD_CAMERA_DISPLAY_H_ */