InteractiveObject.h
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00036 
00040 #ifndef __INTERACTIVE_OBJECT_H__
00041 #define __INTERACTIVE_OBJECT_H__
00042 
00043 
00044 // System
00045 #include <string>
00046 #include <iostream>
00047 #include <mutex>
00048 
00049 // ROS
00050 #include <interactive_markers/interactive_marker_server.h>
00051 #include <interactive_markers/menu_handler.h>
00052 #include <ros/ros.h>
00053 
00054 
00055 namespace beliefstate {
00056   typedef struct {
00057     std::string strLabel;
00058     std::string strIdentifier;
00059     std::string strParameter;
00060     uint8_t unMenuEntryID;
00061   } InteractiveMenuEntry;
00062   
00063   typedef struct {
00064     std::string strObject;
00065     std::string strCommand;
00066     std::string strParameter;
00067   } InteractiveObjectCallbackResult;
00068   
00069   class InteractiveObject {
00070   private:
00071     visualization_msgs::Marker m_mkrMarker;
00072     interactive_markers::MenuHandler m_mhMenu;
00073     visualization_msgs::InteractiveMarker m_imMarker;
00074     interactive_markers::InteractiveMarkerServer* m_imsServer;
00075     visualization_msgs::InteractiveMarkerControl m_imcControl;
00076     std::list<InteractiveMenuEntry> m_lstMenuEntries;
00077     std::list<InteractiveObjectCallbackResult> m_lstCallbackResults;
00078     std::mutex m_mtxCallbackResults;
00079     
00080   public:
00081     InteractiveObject(std::string strName);
00082     ~InteractiveObject();
00083     
00084     bool insertIntoServer(interactive_markers::InteractiveMarkerServer* imsServer);
00085     bool removeFromServer();
00086     void clickCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
00087     
00088     void setMarker(visualization_msgs::Marker mkrMarker);
00089     void setSize(float fWidth, float fDepth, float fHeight);
00090     void setPose(std::string strFixedFrame, geometry_msgs::Pose posPose);
00091     void setPose(geometry_msgs::Pose posPose);
00092     
00093     std::string name();
00094     void addMenuEntry(std::string strLabel, std::string strIdentifier, std::string strParameter = "");
00095     void removeMenuEntry(std::string strIdentifier, std::string strParameter = "");
00096     void clearMenuEntries();
00097     
00098     std::list<InteractiveObjectCallbackResult> callbackResults();
00099   };
00100 }
00101 
00102 
00103 #endif /* __INTERACTIVE_OBJECT_H__ */


beliefstate
Author(s): Jan Winkler
autogenerated on Sun Oct 5 2014 22:30:15