point_tool.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OgreRay.h>
#include <OgreVector3.h>

#include "rviz/viewport_mouse_event.h"
#include "rviz/load_resource.h"
#include "rviz/render_panel.h"
#include "rviz/display_context.h"
#include "rviz/selection/selection_manager.h"
#include "rviz/view_controller.h"

#include "rviz/default_plugin/tools/point_tool.h"

#include "rviz/properties/bool_property.h"
#include "rviz/properties/string_property.h"

#include <geometry_msgs/PointStamped.h>

#include <sstream>

namespace rviz
{

PointTool::PointTool()
  : Tool()
{
  shortcut_key_ = 'c';

  topic_property_ = new StringProperty( "Topic", "/clicked_point",
                                        "The topic on which to publish points.",
                                        getPropertyContainer(), SLOT( updateTopic() ), this );

  auto_deactivate_property_ = new BoolProperty( "Single click", true,
                                                "Switch away from this tool after one click.",
                                                getPropertyContainer(), SLOT( updateAutoDeactivate() ), this );

  updateTopic();
}

PointTool::~PointTool()
{
}

void PointTool::onInitialize()
{
  hit_cursor_ = cursor_;
  std_cursor_ = getDefaultCursor();
}

void PointTool::activate()
{
}

void PointTool::deactivate()
{
}

void PointTool::updateTopic()
{
  pub_ = nh_.advertise<geometry_msgs::PointStamped>( topic_property_->getStdString(), 1 );
}

void PointTool::updateAutoDeactivate()
{
}

int PointTool::processMouseEvent( ViewportMouseEvent& event )
{
  int flags = 0;

  Ogre::Vector3 pos;
  bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos );
  setCursor( success ? hit_cursor_ : std_cursor_ );

  if ( success )
  {
    std::ostringstream s;
    s << "<b>Left-Click:</b> Select this point.";
    s.precision(3);
    s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
    setStatus( s.str().c_str() );

    if( event.leftUp() )
    {
      geometry_msgs::PointStamped ps;
      ps.point.x = pos.x;
      ps.point.y = pos.y;
      ps.point.z = pos.z;
      ps.header.frame_id = context_->getFixedFrame().toStdString();
      ps.header.stamp = ros::Time::now();
      pub_.publish( ps );

      if ( auto_deactivate_property_->getBool() )
      {
        flags |= Finished;
      }
    }
  }
  else
  {
    setStatus( "Move over an object to select the target point." );
  }

  return flags;
}

}

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS( rviz::PointTool, rviz::Tool )