point_head_camera_display.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
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#include "pr2_interactive_manipulation/point_head_camera_display.h"

#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/common.h>
#include <rviz/properties/property.h>
#include <rviz/properties/property_manager.h>

#include <pr2_controllers_msgs/PointHeadAction.h>


namespace pr2_interactive_manipulation
{

PointHeadCameraDisplay::PointHeadCameraDisplay( const std::string& name, rviz::VisualizationManager* manager ) :
    rviz::CameraDisplay( name, manager )
{
  //assign a PointHeadViewController to our render panel,
  //so it receives the mouse events while the "Move Camera" tool is active
  point_head_view_controller_ = new PointHeadViewController( texture_, manager, name );
  render_panel_->setViewController( point_head_view_controller_ );

  setPointHeadTopic( "/head_traj_controller/point_head_action/goal" );
}

PointHeadCameraDisplay::~PointHeadCameraDisplay()
{
  //point_head_view_controller_ will be deleted by render_panel_
}

void PointHeadCameraDisplay::createProperties()
{
  point_head_topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Point Head Action Topic", property_prefix_, boost::bind( &PointHeadCameraDisplay::getPointHeadTopic, this ),
                                                                         boost::bind( &PointHeadCameraDisplay::setPointHeadTopic, this, _1 ), parent_category_, this );
  setPropertyHelpText(point_head_topic_property_, "Action topic where to send the point head commands to.");
  rviz::ROSTopicStringPropertyPtr topic_prop = point_head_topic_property_.lock();
  topic_prop->setMessageType(ros::message_traits::datatype< pr2_controllers_msgs::PointHeadActionGoal >());

  CameraDisplay::createProperties();
}

void PointHeadCameraDisplay::setPointHeadTopic(const std::string& topic)
{
  point_head_view_controller_->setTopic( topic );
  propertyChanged(point_head_topic_property_);
}

const std::string& PointHeadCameraDisplay::getPointHeadTopic()
{
  return point_head_view_controller_->getTopic();
}

}

---

pr2_interactive_manipulation
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:11:03 2013