spawn_model_tool.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   spawn_model_tool.h
 * @brief  Rviz compatible tool for spawning flatland model
 * @author Joseph Duchesne
 * @author Mike Brousseau
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  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 Avidbots Corp. 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,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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#ifndef SPAWN_MODEL_TOOL_H
#define SPAWN_MODEL_TOOL_H

#include <rviz/tool.h>

#include <OGRE/OgreEntity.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#include <OgreVector3.h>

#include <ros/ros.h>
#include "rviz/ogre_helpers/arrow.h"

namespace flatland_viz {
class SpawnModelTool : public rviz::Tool {
  Q_OBJECT

 public:
  SpawnModelTool();
  ~SpawnModelTool();

  void BeginPlacement();
  void SavePath(QString p);
  void SaveName(QString n);
  void SpawnModelInFlatland();

 private:
  virtual void onInitialize();
  virtual void activate();
  virtual void deactivate();
  virtual int processMouseEvent(rviz::ViewportMouseEvent &event);
  void SetMovingModelColor(QColor c);

  Ogre::Vector3
      intersection;     // location cursor intersects ground plane, ie the
                        // location to create the model
  float initial_angle;  // the angle to create the model at
  Ogre::SceneNode *moving_model_node_;  // the node for the 3D object
  std::string model_resource_;          // path to 3d model
  enum ModelState { m_hidden, m_dragging, m_rotating };
  ModelState model_state;  // model state, first hidden, then dragging to
                           // intersection point, then rotating to desired angle
  static QString path_to_model_file;  // full path to model file (yaml)
  static QString model_name;  // base file name with path and extension removed

 protected:
  rviz::Arrow *arrow_;        // Rviz 3d arrow to show axis of rotation
  ros::NodeHandle nh;         // ros service node handle
  ros::ServiceClient client;  // ros service client
};

}  // end namespace flatland_viz

#endif  // SPAWN_MODEL_TOOL_H