interactive_marker.h
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00001 /*
00002  * Copyright (c) 2011, 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 #ifndef RVIZ_INTERACTIVE_MARKER_H_
00031 #define RVIZ_INTERACTIVE_MARKER_H_
00032 
00033 #ifndef Q_MOC_RUN
00034 #include <boost/shared_ptr.hpp>
00035 #include <boost/thread/mutex.hpp>
00036 #include <boost/thread/recursive_mutex.hpp>
00037 #include <boost/thread/thread.hpp>
00038 
00039 #include <OgreVector3.h>
00040 #include <OgreQuaternion.h>
00041 #endif
00042 
00043 #include <visualization_msgs/InteractiveMarker.h>
00044 #include <visualization_msgs/InteractiveMarkerPose.h>
00045 #include <visualization_msgs/InteractiveMarkerFeedback.h>
00046 #include <geometry_msgs/Pose.h>
00047 
00048 #include <ros/publisher.h>
00049 
00050 #include "rviz/selection/forwards.h"
00051 #include "rviz/ogre_helpers/axes.h"
00052 
00053 #include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
00054 #include "rviz/properties/status_property.h"
00055 
00056 namespace Ogre {
00057 class SceneNode;
00058 }
00059 
00060 class QMenu;
00061 
00062 namespace rviz
00063 {
00064 class DisplayContext;
00065 class InteractiveMarkerDisplay;
00066 
00067 class InteractiveMarker : public QObject
00068 {
00069 Q_OBJECT
00070 public:
00071   InteractiveMarker( Ogre::SceneNode* scene_node, DisplayContext* context );
00072   virtual ~InteractiveMarker();
00073 
00074   // reset contents to reflect the data from a new message
00075   // @return success
00076   bool processMessage( const visualization_msgs::InteractiveMarker& message );
00077 
00078   // reset contents to reflect the data from a new message
00079   // @return success
00080   void processMessage( const visualization_msgs::InteractiveMarkerPose& message );
00081 
00082   // called every frame update
00083   void update(float wall_dt);
00084 
00085   // directly set the pose, relative to parent frame
00086   // if publish is set to true, publish the change
00087   void setPose( Ogre::Vector3 position, Ogre::Quaternion orientation, const std::string &control_name );
00088 
00089   void translate( Ogre::Vector3 delta_position, const std::string &control_name );
00090   void rotate( Ogre::Quaternion delta_orientation, const std::string &control_name );
00091 
00092   // schedule a pose reset once dragging is finished
00093   void requestPoseUpdate( Ogre::Vector3 position, Ogre::Quaternion orientation );
00094 
00095   void startDragging();
00096   void stopDragging();
00097 
00098   const Ogre::Vector3& getPosition() { return position_; }
00099   const Ogre::Quaternion& getOrientation() { return orientation_; }
00100 
00101   float getSize() { return scale_; }
00102   const std::string &getReferenceFrame() { return reference_frame_; }
00103   const std::string& getName() { return name_; }
00104 
00105   // show name above marker
00106   void setShowDescription( bool show );
00107 
00108   // show axes in origin
00109   void setShowAxes( bool show );
00110 
00111   // show visual helpers while dragging
00112   void setShowVisualAids( bool show );
00113 
00114   // @return true if the mouse event was intercepted, false if it was ignored
00115   bool handleMouseEvent(ViewportMouseEvent& event, const std::string &control_name );
00116 
00126   bool handle3DCursorEvent(ViewportMouseEvent& event, const Ogre::Vector3& cursor_pos, const Ogre::Quaternion& cursor_rot, const std::string &control_name);
00127 
00128 
00137   void showMenu( ViewportMouseEvent& event, const std::string &control_name, const Ogre::Vector3 &three_d_point, bool valid_point );
00138 
00139   // fill in current marker pose & name, publish
00140   void publishFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback,
00141                        bool mouse_point_valid = false,
00142                        const Ogre::Vector3& mouse_point_rel_world = Ogre::Vector3(0,0,0) );
00143 
00144   bool hasMenu() { return has_menu_; }
00145 
00147   boost::shared_ptr<QMenu> getMenu() { return menu_; }
00148 
00149 Q_SIGNALS:
00150 
00151 void userFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback);
00152 void statusUpdate( StatusProperty::Level level, const std::string& name, const std::string& text );
00153 
00154 protected Q_SLOTS:
00155   void handleMenuSelect( int menu_item_id );
00156 
00157 protected:
00158 
00159   void publishPose();
00160 
00161   void reset();
00162 
00163   // set the pose of the parent frame, relative to the fixed frame
00164   void updateReferencePose();
00165 
00166   QString makeMenuString( const std::string &entry );
00167 
00168   // Recursively append menu and submenu entries to menu, based on a
00169   // vector of menu entry id numbers describing the menu entries at the
00170   // current level.
00171   void populateMenu( QMenu* menu, std::vector<uint32_t>& ids );
00172 
00173   DisplayContext* context_;
00174 
00175   // pose of parent coordinate frame
00176   std::string reference_frame_;
00177   ros::Time reference_time_;
00178   bool frame_locked_;
00179 
00180   // node representing reference frame in tf, like /map, /base_link, /head, etc.
00181   Ogre::SceneNode *reference_node_;
00182 
00183   // pose being controlled, relative to reference frame
00184   Ogre::Vector3 position_;
00185   Ogre::Quaternion orientation_;
00186 
00187   // has the pose changed since the last feedback was sent?
00188   bool pose_changed_;
00189   double time_since_last_feedback_;
00190 
00191   typedef boost::shared_ptr<InteractiveMarkerControl> InteractiveMarkerControlPtr;
00192   typedef std::map<std::string, InteractiveMarkerControlPtr> M_ControlPtr;
00193   M_ControlPtr controls_;
00194 
00195   std::string name_;
00196   std::string description_;
00197 
00198   bool dragging_;
00199 
00200   // pose being controlled
00201   bool pose_update_requested_;
00202   Ogre::Vector3 requested_position_;
00203   Ogre::Quaternion requested_orientation_;
00204 
00205   float scale_;
00206 
00207   boost::shared_ptr<QMenu> menu_;
00208   bool has_menu_;
00209 
00210   // Helper to more simply represent the menu tree.
00211   struct MenuNode
00212   {
00213     visualization_msgs::MenuEntry entry;
00214     std::vector<uint32_t> child_ids;
00215   };
00216 
00217   // maps menu index to menu entry and item
00218   std::map< uint32_t, MenuNode > menu_entries_;
00219 
00220   // Helper to store the top level of the menu tree.
00221   std::vector<uint32_t> top_level_menu_ids_;
00222 
00223   // which control has popped up the menu
00224   std::string last_control_name_;
00225 
00226   double heart_beat_t_;
00227 
00228   // visual aids
00229 
00230   Axes *axes_;
00231 
00232   InteractiveMarkerControlPtr description_control_;
00233 
00234   std::string topic_ns_;
00235   std::string client_id_;
00236 
00237   boost::recursive_mutex mutex_;
00238 
00239   boost::shared_ptr< boost::thread > sys_thread_;
00240 
00241   bool got_3d_point_for_menu_;
00242   Ogre::Vector3 three_d_point_for_menu_;
00243 
00244   bool show_visual_aids_;
00245 };
00246 
00247 
00248 }
00249 
00250 #endif /* INTERACTIVE_MARKER_H_ */


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Tue Oct 3 2017 03:19:30