object.h

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/******************************************************************************
 * \file
 *
 * $Id: Object.h 676 2012-04-19 18:32:07Z xlokaj03 $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by Robo@FIT group.
 *
 * Author: Tomas Lokaj (xlokaj03@stud.fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd.mm.2011
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef OBJECT_H_
#define OBJECT_H_

#include "bounding_box.h"

namespace srs_interaction_primitives
{

enum
{
  _, GRASP_1, GRASP_2, GRASP_3, GRASP_4, GRASP_5, GRASP_6
};

enum ObjectResource
{
  SHAPE, RESOURCE_FILE
};

struct PreGraspPosition
{
  std::string name;
  bool enabled;
  geometry_msgs::Pose pose;

  PreGraspPosition()
  {
    enabled = false;
  }
};

class Object : public BoundingBox
{
public:
  Object(InteractiveMarkerServerPtr server, std::string frame_id, std::string name);

  void insert();

  void setBoundingBoxLWH(geometry_msgs::Point bounding_box_lwh)
  {
    bounding_box_lwh_ = bounding_box_lwh;
  }

  geometry_msgs::Point getBoundingBoxLWH()
  {
    return bounding_box_lwh_;
  }

  void setPoseLWH(geometry_msgs::Pose pose, geometry_msgs::Point bounding_box_lwh);

  void setAllowPregrasp(bool allow_pregrasp)
  {
    allow_pregrasp_ = allow_pregrasp;
  }

  void setResource(std::string resource)
  {
    object_resource_ = RESOURCE_FILE;
    resource_ = resource;
  }

  std::string getResource()
  {
    return resource_;
  }

  void setUseMaterial(bool use_material)
  {
    use_material_ = use_material;
  }

  bool getUseMaterial()
  {
    return use_material_;
  }

  void setShape(arm_navigation_msgs::Shape shape)
  {
    object_resource_ = SHAPE;
    shape_ = shape;
  }

  arm_navigation_msgs::Shape getShape()
  {
    return shape_;
  }

  virtual void setAllowObjectInteraction(bool allow);

  void addPreGraspPosition(int pos_id, geometry_msgs::Pose pose);

  void removePreGraspPosition(int pos_id);

  void addPregraspPositions();

  void removePregraspPositions();

  void updateControls();

  void objectCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

  void menuCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

private:
  void create();
  void createMenu();
  void createMesh();
  void createBoundingBoxControl();

  // Object's attributes
  ObjectResource object_resource_;
  visualization_msgs::Marker mesh_;
  arm_navigation_msgs::Shape shape_;
  std::string resource_;
  bool use_material_;
  bool move_arm_to_pregrasp_onclick_;
  bool allow_object_interaction_, allow_pregrasp_;

  geometry_msgs::Point bounding_box_lwh_;
  bool translated_;

  bool show_pregrasp_control_;

  PreGraspPosition pregrasp1_, pregrasp2_, pregrasp3_, pregrasp4_, pregrasp5_, pregrasp6_;

  visualization_msgs::InteractiveMarkerControl pregrasp1Control_, pregrasp2Control_, pregrasp3Control_,
                                               pregrasp4Control_, pregrasp5Control_, pregrasp6Control_;

  // Menu handlers
  interactive_markers::MenuHandler::EntryHandle menu_handler_interaction_, menu_handler_interaction_movement_,
                                                menu_handler_interaction_rotation_, menu_handler_show_pregrasp_,
                                                menu_handler_move_to_pregrasp_;
};

}

#endif /* OBJECT_H_ */