robot_interaction: interactive_marker

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00034 
00035 /* Author: Ioan Sucan, Acorn Pooley, Adam Leeper */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
00038 #define MOVEIT_ROBOT_INTERACTION_INTERACTIVE_MARKER_HELPERS_
00039 
00040 #include <visualization_msgs/InteractiveMarker.h>
00041 #include <geometry_msgs/PoseStamped.h>
00042 #include <std_msgs/ColorRGBA.h>
00043 
00044 namespace robot_interaction
00045 {
00046 
00047 visualization_msgs::InteractiveMarker makeEmptyInteractiveMarker(const std::string& name,
00048                                                      const geometry_msgs::PoseStamped &stamped,
00049                                                      double scale);
00050 
00051 visualization_msgs::InteractiveMarker make6DOFMarker(const std::string& name,
00052                                                      const geometry_msgs::PoseStamped &stamped,
00053                                                      double scale,
00054                                                      bool orientation_fixed = false);
00055 
00056 visualization_msgs::InteractiveMarker makePlanarXYMarker(const std::string& name,
00057                                                      const geometry_msgs::PoseStamped &stamped,
00058                                                      double scale,
00059                                                      bool orientation_fixed = false);
00060 
00061 void addTArrowMarker(visualization_msgs::InteractiveMarker &im);
00062 
00063 void addErrorMarker(visualization_msgs::InteractiveMarker &im);
00064 
00065 void add6DOFControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00066 
00067 void addPlanarXYControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00068 
00069 void addOrientationControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00070 
00071 void addPositionControl(visualization_msgs::InteractiveMarker& int_marker, bool orientation_fixed = false);
00072 
00073 void addViewPlaneControl(visualization_msgs::InteractiveMarker& int_marker, double radius, const std_msgs::ColorRGBA& color, bool position = true, bool orientation = true);
00074 
00075 }
00076 
00077 #endif