MeshPoseTool.hpp

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 *  MeshPoseTool.hpp
 *
 *  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
 */
 
#ifndef MESH_POSE_TOOL_HPP
#define MESH_POSE_TOOL_HPP
 
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreRay.h>
 
#include <QCursor>
#include <ros/ros.h>
#include <rviz/tool.h>
#include <rviz/ogre_helpers/arrow.h>
 
namespace rviz_map_plugin
{
class MeshPoseTool : public rviz::Tool
{
public:
  MeshPoseTool();
  virtual ~MeshPoseTool();
 
  virtual void onInitialize();
 
  virtual void activate();
  virtual void deactivate();
 
  virtual int processMouseEvent(rviz::ViewportMouseEvent& event);
 
protected:
  virtual void onPoseSet(const Ogre::Vector3& position, const Ogre::Quaternion& orientation) = 0;
 
  void getRawManualObjectData(const Ogre::ManualObject* mesh, const size_t sectionNumber, size_t& vertexCount,
                              Ogre::Vector3*& vertices, size_t& indexCount, unsigned long*& indices);
 
  bool getPositionAndOrientation(const Ogre::ManualObject* mesh, const Ogre::Ray& ray, Ogre::Vector3& position,
                                 Ogre::Vector3& orientation);
 
  bool selectTriangle(rviz::ViewportMouseEvent& event, Ogre::Vector3& position, Ogre::Vector3& orientation);
 
  rviz::Arrow* arrow_;
  enum State
  {
    Position,
    Orientation
  };
  State state_;
  Ogre::Vector3 pos_;
  Ogre::Vector3 ori_;
};
 
} /* namespace rviz_map_plugin */
 
#endif