interactive_marker_manager.h

#ifndef INTERACTIVEMARKERMANAGER_H
#define INTERACTIVEMARKERMANAGER_H

#include <flatland_server/geometry.h>
#include <flatland_server/model.h>
#include <flatland_server/plugin_manager.h>
#include <flatland_server/types.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <visualization_msgs/MarkerArray.h>

namespace flatland_server {

class InteractiveMarkerManager {
 public:
  InteractiveMarkerManager(std::vector<Model*>* model_list_ptr,
                           PluginManager* plugin_manager_ptr);

  ~InteractiveMarkerManager();

  void createInteractiveMarker(
      const std::string& model_name, const Pose& pose,
      const visualization_msgs::MarkerArray& body_markers);

  void deleteInteractiveMarker(const std::string& model_name);

  void update();

  bool isManipulating() { return manipulating_model_; }

 private:
  interactive_markers::MenuHandler
      menu_handler_;  
  boost::shared_ptr<interactive_markers::InteractiveMarkerServer>
      interactive_marker_server_;  
  std::vector<Model*>*
      models_;  
  PluginManager*
      plugin_manager_;  
  bool manipulating_model_;  
  ros::WallTime pose_update_stamp_;  

  void processMouseUpFeedback(
      const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void processMouseDownFeedback(
      const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void processPoseUpdateFeedback(
      const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void deleteModelMenuCallback(
      const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
};
}

#endif  // INTERACTIVEMARKERMANAGER_H