pose_tool.h

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/*
 * Copyright (c) 2008, 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
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#ifndef RVIZ_POSE_TOOL_H
#define RVIZ_POSE_TOOL_H
 
#include <rviz/ogre_helpers/ogre_vector.h>
 
#include <QCursor>
 
#include <ros/ros.h>
 
#include <rviz/tool.h>
 
namespace rviz
{
class Arrow;
class DisplayContext;
 
class PoseTool : public Tool
{
public:
  PoseTool();
  ~PoseTool() override;
 
  void onInitialize() override;
 
  void activate() override;
  void deactivate() override;
 
  int processMouseEvent(ViewportMouseEvent& event) override;
 
protected:
  virtual void onPoseSet(double x, double y, double theta) = 0;
 
  Arrow* arrow_;
 
  enum State
  {
    Position,
    Orientation
  };
  State state_;
 
  Ogre::Vector3 pos_;
};
 
} // namespace rviz
 
#endif