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00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "pr2_interactive_manipulation/publish_click_camera_display.h" 00031 00032 #include <rviz/visualization_manager.h> 00033 #include <rviz/render_panel.h> 00034 #include <rviz/properties/property.h> 00035 #include <rviz/properties/property_manager.h> 00036 00037 namespace pr2_interactive_manipulation 00038 { 00039 00040 PublishClickCameraDisplay::PublishClickCameraDisplay( const std::string& name, rviz::VisualizationManager* manager ) : 00041 rviz::CameraDisplay( name, manager ) 00042 { 00043 //assign a PublishClickViewController to our render panel, 00044 //so it receives the mouse events while the "Move Camera" tool is active 00045 publish_click_view_controller_ = new PublishClickViewController( texture_, manager, name ); 00046 render_panel_->setViewController( publish_click_view_controller_ ); 00047 setPublishClickTopic( "/interactive_manipulation_image_click" ); 00048 } 00049 00050 PublishClickCameraDisplay::~PublishClickCameraDisplay() 00051 { 00052 //publish_click_view_controller_ will be deleted by render_panel_ 00053 } 00054 00055 void PublishClickCameraDisplay::createProperties() 00056 { 00057 publish_click_topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( 00058 "Publish Click Topic", property_prefix_, 00059 boost::bind( &PublishClickCameraDisplay::getPublishClickTopic, this ), 00060 boost::bind( &PublishClickCameraDisplay::setPublishClickTopic, this, _1 ), 00061 parent_category_, this ); 00062 setPropertyHelpText(publish_click_topic_property_, "Topic where click information is published."); 00063 //rviz::ROSTopicStringPropertyPtr topic_prop = publish_click_topic_property_.lock(); 00064 //topic_prop->setMessageType(ros::message_traits::datatype< pr2_controllers_msgs::PublishClickActionGoal >()); 00065 CameraDisplay::createProperties(); 00066 } 00067 00068 void PublishClickCameraDisplay::setPublishClickTopic(const std::string& topic) 00069 { 00070 publish_click_view_controller_->setTopic( topic ); 00071 propertyChanged(publish_click_topic_property_); 00072 } 00073 00074 const std::string& PublishClickCameraDisplay::getPublishClickTopic() 00075 { 00076 return publish_click_view_controller_->getTopic(); 00077 } 00078 00079 }