gripper.h
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00001 /*
00002  * Copyright (c) 2009, 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 #ifndef GRIPPER_CLICK_GRIPPER_H
00031 #define GRIPPER_CLICK_GRIPPER_H
00032 
00033 #include <tf/transform_datatypes.h>
00034 
00035 #include <OGRE/OgreQuaternion.h>
00036 #include <OGRE/OgreVector3.h>
00037 #include <OGRE/OgreMaterial.h>
00038 
00039 namespace Ogre {
00040 class SceneManager;
00041 class SceneNode;
00042 }
00043 
00044 namespace rviz_interaction_tools {
00045 
00046 class Gripper
00047 {
00048 
00049 public:
00050 
00051   Gripper( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root );
00052   ~Gripper();
00053 
00054   void setGripperAngle(float angle);
00055 
00056   void setPosition( Ogre::Vector3 &position );
00057 
00058   void setOrientation( Ogre::Quaternion &orientation );
00059 
00060   void setVisible( bool visible );
00061 
00062   Ogre::SceneNode* getRootNode() { return gripper_root_; }
00063 
00064   void setColour( float r, float g, float b, float a );
00065 
00066   void setDepthCheckEnabled( bool );
00067 
00068   void setRenderQueueGroup( unsigned group );
00069 
00070 protected:
00071 
00072   Ogre::SceneManager* scene_manager_;
00073 
00074   tf::Transform computeOrientation();
00075 
00076   float gripper_angle_;
00077   float gripper_roll_;
00078   float gripper_approach_;
00079 
00080   tf::Transform gripper_transform_;
00081 
00082   Ogre::SceneNode* gripper_root_;
00083   Ogre::SceneNode* l_proximal_finger_node_;
00084   Ogre::SceneNode* l_distal_finger_node_;
00085   Ogre::SceneNode* r_proximal_finger_node_;
00086   Ogre::SceneNode* r_distal_finger_node_;
00087 
00088   std::string resource_group_name_;
00089 
00090   std::vector<Ogre::MaterialPtr> material_;
00091   std::vector<Ogre::Entity*> entities_;
00092 };
00093 
00094 }
00095 
00096 #endif


rviz_interaction_tools
Author(s): David Gossow
autogenerated on Mon Oct 6 2014 03:03:25