point_tool.cpp
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <OGRE/OgreRay.h>
00031 #include <OGRE/OgreVector3.h>
00032 
00033 #include "rviz/viewport_mouse_event.h"
00034 #include "rviz/load_resource.h"
00035 #include "rviz/render_panel.h"
00036 #include "rviz/display_context.h"
00037 #include "rviz/selection/selection_manager.h"
00038 #include "rviz/view_controller.h"
00039 
00040 #include "rviz/default_plugin/tools/point_tool.h"
00041 
00042 #include "rviz/properties/bool_property.h"
00043 #include "rviz/properties/string_property.h"
00044 
00045 #include <geometry_msgs/PointStamped.h>
00046 
00047 #include <sstream>
00048 
00049 namespace rviz
00050 {
00051 
00052 PointTool::PointTool()
00053   : Tool()
00054 {
00055   topic_property_ = new StringProperty( "Topic", "/clicked_point",
00056                                         "The topic on which to publish points.",
00057                                         getPropertyContainer(), SLOT( updateTopic() ), this );
00058 
00059   auto_deactivate_property_ = new BoolProperty( "Single click", true,
00060                                                 "Switch away from this tool after one click.",
00061                                                 getPropertyContainer(), SLOT( updateAutoDeactivate() ), this );
00062 
00063   updateTopic();
00064 }
00065 
00066 PointTool::~PointTool()
00067 {
00068 }
00069 
00070 void PointTool::onInitialize()
00071 {
00072   hit_cursor_ = cursor_;
00073   std_cursor_ = getDefaultCursor();
00074 }
00075 
00076 void PointTool::activate()
00077 {
00078 }
00079 
00080 void PointTool::deactivate()
00081 {
00082 }
00083 
00084 void PointTool::updateTopic()
00085 {
00086   pub_ = nh_.advertise<geometry_msgs::PointStamped>( topic_property_->getStdString(), 1 );
00087 }
00088 
00089 void PointTool::updateAutoDeactivate()
00090 {
00091 }
00092 
00093 int PointTool::processMouseEvent( ViewportMouseEvent& event )
00094 {
00095   int flags = 0;
00096 
00097   Ogre::Vector3 pos;
00098   bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos );
00099   setCursor( success ? hit_cursor_ : std_cursor_ );
00100 
00101   if ( success )
00102   {
00103     std::ostringstream s;
00104     s << "<b>Left-Click:</b> Select this point.";
00105     s.precision(3);
00106     s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
00107     setStatus( s.str().c_str() );
00108 
00109     if( event.leftUp() )
00110     {
00111       geometry_msgs::PointStamped ps;
00112       ps.point.x = pos.x;
00113       ps.point.y = pos.y;
00114       ps.point.z = pos.z;
00115       ps.header.frame_id = context_->getFixedFrame().toStdString();
00116       ps.header.stamp = ros::Time::now();
00117       pub_.publish( ps );
00118 
00119       if ( auto_deactivate_property_->getBool() )
00120       {
00121         flags |= Finished;
00122       }
00123     }
00124   }
00125   else
00126   {
00127     setStatus( "Move over an object to select the target point." );
00128   }
00129 
00130   return flags;
00131 }
00132 
00133 }
00134 
00135 #include <pluginlib/class_list_macros.h>
00136 PLUGINLIB_EXPORT_CLASS( rviz::PointTool, rviz::Tool )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Oct 6 2014 07:26:35