rviz: rviz: marker_selection_handler.cpp Source File

00001 /*
00002  * Copyright (c) 2009, 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 "marker_selection_handler.h"
00031 #include "marker_base.h"
00032 #include "rviz/default_plugin/marker_display.h"
00033 #include "rviz/properties/property_manager.h"
00034 #include "rviz/properties/property.h"
00035 #include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
00036 
00037 
00038 #include <OGRE/OgreVector3.h>
00039 #include <OGRE/OgreQuaternion.h>
00040 
00041 #include <boost/bind.hpp>
00042 
00043 namespace rviz
00044 {
00045 
00046 MarkerSelectionHandler::MarkerSelectionHandler(const MarkerBase* marker, MarkerID id)
00047 : marker_(marker)
00048 , id_(id)
00049 , control_(0)
00050 {
00051 }
00052 
00053 MarkerSelectionHandler::~MarkerSelectionHandler()
00054 {
00055 }
00056 
00057 Ogre::Vector3 MarkerSelectionHandler::getPosition()
00058 {
00059   return Ogre::Vector3(marker_->getMessage()->pose.position.x, marker_->getMessage()->pose.position.y, marker_->getMessage()->pose.position.z);
00060 }
00061 
00062 Ogre::Quaternion MarkerSelectionHandler::getOrientation()
00063 {
00064   return Ogre::Quaternion(marker_->getMessage()->pose.orientation.w, marker_->getMessage()->pose.orientation.x, marker_->getMessage()->pose.orientation.y, marker_->getMessage()->pose.orientation.z);
00065 }
00066 
00067 void MarkerSelectionHandler::createProperties(const Picked& obj, PropertyManager* property_manager)
00068 {
00069   std::stringstream prefix;
00070   prefix << "Marker " << id_.first << "/" << id_.second;
00071   CategoryPropertyWPtr cat = property_manager->createCategory(prefix.str(), prefix.str());
00072   properties_.push_back(property_manager->createProperty<StringProperty>("ID", prefix.str(), boost::bind(&MarkerSelectionHandler::getId, this), StringProperty::Setter(), cat));
00073   properties_.push_back(property_manager->createProperty<Vector3Property>("Position", prefix.str(), boost::bind(&MarkerSelectionHandler::getPosition, this), Vector3Property::Setter(), cat));
00074   properties_.push_back(property_manager->createProperty<QuaternionProperty>("Orientation", prefix.str(), boost::bind(&MarkerSelectionHandler::getOrientation, this), QuaternionProperty::Setter(), cat));
00075   properties_.push_back(cat);
00076 }
00077 
00078 void MarkerSelectionHandler::setControl( InteractiveMarkerControl* control )
00079 {
00080   control_ = control;
00081 }
00082 
00083 
00084 bool MarkerSelectionHandler::isInteractive()
00085 {
00086   return control_ && control_->isInteractive();
00087 }
00088 
00089 void MarkerSelectionHandler::enableInteraction(bool enable)
00090 {
00091   if ( control_ ) control_->enableInteraction(enable);
00092 }
00093 
00094 void MarkerSelectionHandler::handleMouseEvent(const Picked& obj, ViewportMouseEvent& event)
00095 {
00096   if ( control_ ) control_->handleMouseEvent(event);
00097 }
00098 
00099 }