marker_selection_handler.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <OgreQuaternion.h>
#include <OgreVector3.h>

#include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
#include "rviz/default_plugin/marker_display.h"
#include "rviz/default_plugin/markers/marker_base.h"
#include "rviz/properties/property.h"
#include "rviz/properties/quaternion_property.h"
#include "rviz/properties/vector_property.h"

#include "rviz/default_plugin/markers/marker_selection_handler.h"

namespace rviz
{
MarkerSelectionHandler::MarkerSelectionHandler(const MarkerBase* marker,
                                               MarkerID id,
                                               DisplayContext* context)
  : SelectionHandler(context)
  , marker_(marker)
  , marker_id_(QString::fromStdString(id.first) + "/" + QString::number(id.second))
{
}

MarkerSelectionHandler::~MarkerSelectionHandler()
{
}

Ogre::Vector3 MarkerSelectionHandler::getPosition()
{
  return Ogre::Vector3(marker_->getMessage()->pose.position.x, marker_->getMessage()->pose.position.y,
                       marker_->getMessage()->pose.position.z);
}

Ogre::Quaternion MarkerSelectionHandler::getOrientation()
{
  return Ogre::Quaternion(marker_->getMessage()->pose.orientation.w,
                          marker_->getMessage()->pose.orientation.x,
                          marker_->getMessage()->pose.orientation.y,
                          marker_->getMessage()->pose.orientation.z);
}

void MarkerSelectionHandler::createProperties(const Picked& /*obj*/, Property* parent_property)
{
  Property* group = new Property("Marker " + marker_id_, QVariant(), "", parent_property);
  properties_.push_back(group);

  position_property_ = new VectorProperty("Position", getPosition(), "", group);
  position_property_->setReadOnly(true);

  orientation_property_ = new QuaternionProperty("Orientation", getOrientation(), "", group);
  orientation_property_->setReadOnly(true);

  group->expand();
}

void MarkerSelectionHandler::updateProperties()
{
  position_property_->setVector(getPosition());
  orientation_property_->setQuaternion(getOrientation());
}

} // end namespace rviz