interaction.h
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00034 
00035 /* Author: Acorn Pooley */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_INTERACTION_
00038 #define MOVEIT_ROBOT_INTERACTION_INTERACTION_
00039 
00040 #include <visualization_msgs/InteractiveMarkerFeedback.h>
00041 #include <visualization_msgs/InteractiveMarker.h>
00042 #include <interactive_markers/menu_handler.h>
00043 #include <moveit/robot_state/robot_state.h>
00044 #include <boost/function.hpp>
00045 #include <boost/thread.hpp>
00046 #include <tf/tf.h>
00047 
00048 namespace moveit
00049 {
00050 namespace core
00051 {
00052 class RobotState;
00053 }
00054 }
00055 
00056 namespace robot_interaction
00057 {
00058 namespace InteractionStyle
00059 {
00062 enum InteractionStyle
00063 {
00064   POSITION_ARROWS = 1,      // arrows to change position
00065   ORIENTATION_CIRCLES = 2,  // circles to change orientation
00066   POSITION_SPHERE = 4,      // sphere: drag to change position
00067   ORIENTATION_SPHERE = 8,   // sphere: drag to change orientation
00068   POSITION_EEF = 16,        // drag end effector to change position
00069   ORIENTATION_EEF = 32,     // drag end effector to change orientation
00070   FIXED = 64,               // keep arrow and circle axis fixed
00071 
00072   POSITION = POSITION_ARROWS | POSITION_SPHERE | POSITION_EEF,
00073   ORIENTATION = ORIENTATION_CIRCLES | ORIENTATION_SPHERE | ORIENTATION_EEF,
00074   SIX_DOF = POSITION | ORIENTATION,
00075   SIX_DOF_SPHERE = POSITION_SPHERE | ORIENTATION_SPHERE,
00076   POSITION_NOSPHERE = POSITION_ARROWS | POSITION_EEF,
00077   ORIENTATION_NOSPHERE = ORIENTATION_CIRCLES | ORIENTATION_EEF,
00078   SIX_DOF_NOSPHERE = POSITION_NOSPHERE | ORIENTATION_NOSPHERE
00079 };
00080 }
00081 
00089 typedef boost::function<bool(const robot_state::RobotState& state, visualization_msgs::InteractiveMarker& marker)>
00090     InteractiveMarkerConstructorFn;
00091 
00103 typedef boost::function<bool(robot_state::RobotState& state,
00104                              const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)>
00105     ProcessFeedbackFn;
00106 
00116 typedef boost::function<bool(const robot_state::RobotState&, geometry_msgs::Pose&)> InteractiveMarkerUpdateFn;
00117 
00120 struct GenericInteraction
00121 {
00122   // Callback to construct interactive marker.
00123   // See comment on typedef above.
00124   InteractiveMarkerConstructorFn construct_marker;
00125 
00126   // Callback to handle interactive marker feedback messages.
00127   // See comment on typedef above.
00128   ProcessFeedbackFn process_feedback;
00129 
00130   // Callback to update marker pose when RobotState changes.
00131   // See comment on typedef above.
00132   InteractiveMarkerUpdateFn update_pose;
00133 
00134   // Suffix added to name of markers.
00135   // Automatically generated.
00136   std::string marker_name_suffix;
00137 };
00138 
00141 struct EndEffectorInteraction
00142 {
00144   std::string parent_group;
00145 
00147   std::string parent_link;
00148 
00150   std::string eef_group;
00151 
00153   InteractionStyle::InteractionStyle interaction;
00154 
00156   double size;
00157 };
00158 
00161 struct JointInteraction
00162 {
00164   std::string connecting_link;
00165 
00167   std::string parent_frame;
00168 
00170   std::string joint_name;
00171 
00173   unsigned int dof;
00174 
00176   double size;
00177 };
00178 }
00179 
00180 #endif


robot_interaction
Author(s): Ioan Sucan
autogenerated on Tue Dec 26 2017 03:34:35