goal_tool.h

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/*
 * Copyright (c) 2008, 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
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 */

#ifndef RVIZ_GOAL_TOOL_H
#define RVIZ_GOAL_TOOL_H

#include "pose_tool.h"
#include "properties/forwards.h"

#include <OGRE/OgreVector3.h>
#include <ros/ros.h>

namespace ogre_tools
{
class Arrow;
}

namespace rviz
{

class VisualizationManager;

class GoalTool : public PoseTool
{
public:
  GoalTool( const std::string& name, char shortcut_key, VisualizationManager* manager );
  virtual ~GoalTool();

  const std::string& getTopic() { return topic_; }
  void setTopic(const std::string& topic);
  virtual bool hasProperties() { return true; }
  virtual void enumerateProperties(PropertyManager* property_manager, const CategoryPropertyWPtr& parent);

protected:
  virtual void onPoseSet(double x, double y, double theta);

  std::string topic_;

  ros::NodeHandle nh_;
  ros::Publisher pub_;

  StringPropertyWPtr topic_property_;
};

}

#endif