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00030 #include <OGRE/OgreQuaternion.h>
00031 #include <OGRE/OgreVector3.h>
00032
00033 #include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
00034 #include "rviz/default_plugin/marker_display.h"
00035 #include "rviz/default_plugin/markers/marker_base.h"
00036 #include "rviz/properties/property.h"
00037 #include "rviz/properties/quaternion_property.h"
00038 #include "rviz/properties/vector_property.h"
00039
00040 #include "rviz/default_plugin/markers/marker_selection_handler.h"
00041
00042 namespace rviz
00043 {
00044
00045 MarkerSelectionHandler::MarkerSelectionHandler( const MarkerBase* marker, MarkerID id, DisplayContext* context )
00046 : SelectionHandler( context )
00047 , marker_( marker )
00048 , marker_id_( QString::fromStdString( id.first ) + "/" + QString::number( id.second ))
00049 {
00050 }
00051
00052 MarkerSelectionHandler::~MarkerSelectionHandler()
00053 {
00054 }
00055
00056 Ogre::Vector3 MarkerSelectionHandler::getPosition()
00057 {
00058 return Ogre::Vector3( marker_->getMessage()->pose.position.x,
00059 marker_->getMessage()->pose.position.y,
00060 marker_->getMessage()->pose.position.z );
00061 }
00062
00063 Ogre::Quaternion MarkerSelectionHandler::getOrientation()
00064 {
00065 return Ogre::Quaternion( marker_->getMessage()->pose.orientation.w,
00066 marker_->getMessage()->pose.orientation.x,
00067 marker_->getMessage()->pose.orientation.y,
00068 marker_->getMessage()->pose.orientation.z );
00069 }
00070
00071 void MarkerSelectionHandler::createProperties( const Picked& obj, Property* parent_property )
00072 {
00073 Property* group = new Property( "Marker " + marker_id_, QVariant(), "", parent_property );
00074 properties_.push_back( group );
00075
00076 position_property_ = new VectorProperty( "Position", getPosition(), "", group );
00077 position_property_->setReadOnly( true );
00078
00079 orientation_property_ = new QuaternionProperty( "Orientation", getOrientation(), "", group );
00080 orientation_property_->setReadOnly( true );
00081
00082 group->expand();
00083 }
00084
00085 void MarkerSelectionHandler::updateProperties()
00086 {
00087 position_property_->setVector( getPosition() );
00088 orientation_property_->setQuaternion( getOrientation() );
00089 }
00090
00091 }