overlay_picker_tool.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGIN_OVERLAY_PICKER_TOOL_H_
#define JSK_RVIZ_PLUGIN_OVERLAY_PICKER_TOOL_H_

#include <rviz/tool.h>
#include <rviz/properties/property.h>
#include <rviz/properties/property_tree_model.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/render_panel.h>

namespace jsk_rviz_plugins
{
  class OverlayPickerTool: public rviz::Tool
  {
  public:
    OverlayPickerTool();
    virtual void activate() {}
    virtual void deactivate() {};
    virtual int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel);
    virtual int processMouseEvent(rviz::ViewportMouseEvent& event);
    template <class T>
    T* isPropertyType(rviz::Property* p)
    {
      try {
        return dynamic_cast<T*>(p);
      }
      catch (const std::bad_cast& e) {
        return NULL;
      }
    }

    template <class T>
    bool startMovement(rviz::Property* property,
                       rviz::ViewportMouseEvent& event, const std::string& type)
    {
      if (isPropertyType<T>(property)) {
        bool res = isPropertyType<T>(property)->isInRegion(event.x, event.y);
        if (res) {
          target_property_ = property;
          target_property_type_ = type;
          move_offset_x_ = event.x - isPropertyType<T>(property)->getX();
          move_offset_y_ = event.y - isPropertyType<T>(property)->getY();
        }
        return res;
      }
      else {
        return false;
      }
    }
    
    template <class T>
    void movePosition(rviz::ViewportMouseEvent& event)
    {
      if (shift_pressing_) {
        int orig_x = event.x - move_offset_x_;
        int orig_y = event.y - move_offset_y_;
        isPropertyType<T>(target_property_)->movePosition(
          20 * (orig_x / 20), 20 * (orig_y / 20));
      }
      else {
        isPropertyType<T>(target_property_)->movePosition(
          event.x - move_offset_x_, event.y - move_offset_y_);
      }
    }

    template <class T>
    void setPosition(rviz::ViewportMouseEvent& event)
    {
      if (shift_pressing_) {
        int orig_x = event.x - move_offset_x_;
        int orig_y = event.y - move_offset_y_;
        isPropertyType<T>(target_property_)->setPosition(
          20 * (orig_x / 20), 20 * (orig_y / 20));
      }
      else {
        isPropertyType<T>(target_property_)->setPosition(
          event.x - move_offset_x_, event.y - move_offset_y_);
      }
    }
    
  protected:
    virtual void onClicked(rviz::ViewportMouseEvent& event);
    virtual void onMove(rviz::ViewportMouseEvent& event);
    virtual void onRelease(rviz::ViewportMouseEvent& event);
    virtual bool handleDisplayClick(rviz::Property* property, rviz::ViewportMouseEvent& event);

    bool is_moving_;
    rviz::Property* target_property_;
    std::string target_property_type_;
    int move_offset_x_, move_offset_y_;
    bool shift_pressing_;
  private:
    
  };
}

#endif