bounding_box.h

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/******************************************************************************
 * \file
 *
 * $Id: BoundingBox.h 676 2012-04-19 18:32:07Z xlokaj03 $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by Robo@FIT group.
 *
 * Author: Tomas Lokaj (xlokaj03@stud.fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 27.11.2011
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef BOUNDINGBOX_H_
#define BOUNDINGBOX_H_

#include "primitive.h"

#define BBOX_MIN_ALPHA 0.0
#define BBOX_MAX_ALPHA 0.2

#define BOUNDING_BOX_CONTROL_NAME "bbox_control"

namespace srs_interaction_primitives
{
class BoundingBox : public Primitive
{
public:
  BoundingBox(InteractiveMarkerServerPtr server, std::string frame_id, std::string name);

  BoundingBox()
  {
  }

  void insert();

  void menuCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

  void bboxCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);


  std::string getAttachedObjectName()
  {
    return attached_object_name_;
  }

  void setAttachedObjectName(std::string name)
  {
    attached_object_name_ = name;
  }

protected:
  visualization_msgs::Marker bounding_box_, wire_;
  std::string attached_object_name_;

  void showBoundingBoxControl(bool show);

  void createBoundingBoxControl(float trans_x, float trans_y, float trans_z);
  void createBoundingBoxControl();
  void create();
  void createMenu();
};

}

#endif /* BOUNDINGBOX_H_ */