00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id: UnknownObject.h 676 2012-04-19 18:32:07Z xlokaj03 $ 00005 * 00006 * Copyright (C) Brno University of Technology 00007 * 00008 * This file is part of software developed by Robo@FIT group. 00009 * 00010 * Author: Tomas Lokaj (xlokaj03@stud.fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: 02/12/2011 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00028 #pragma once 00029 #ifndef UNKNOWNOBJECT_H_ 00030 #define UNKNOWNOBJECT_H_ 00031 00032 #include "primitive.h" 00033 00034 namespace srs_interaction_primitives 00035 { 00048 class UnknownObject : public Primitive 00049 { 00050 public: 00057 UnknownObject(InteractiveMarkerServerPtr server, std::string frame_id, std::string name); 00058 00062 void insert(); 00063 00067 void useMaterial(bool value) { use_material_ = value; } 00068 00072 void menuCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback); 00073 00077 void uboxCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback); 00078 00079 virtual void setAllowObjectInteraction(bool allow); 00080 00081 private: 00082 void createUnknownBox(); 00083 void createBox(); 00084 void createColorBox(); 00085 void create(); 00086 void createMenu(); 00087 00088 private: 00089 visualization_msgs::Marker box_, wire_; 00090 00091 // Menu handlers 00092 interactive_markers::MenuHandler::EntryHandle menu_handler_interaction_, menu_handler_interaction_movement_, 00093 menu_handler_interaction_rotation_, menu_handler_interaction_scale_; 00094 00095 // Enables visualization of a predefined model including "red cross" 00096 bool use_material_; 00097 00098 bool allow_object_interaction_; 00099 00100 }; 00101 00102 } 00103 00104 #endif /* UNKNOWNOBJECT_H_ */