void UnknownObject::setAllowObjectInteraction(bool allow)
{
ROS_INFO("Interaction allowed");
allow_object_interaction_ = allow;
if (allow_object_interaction_)
{
addMovementControls();
addRotationControls();
addScaleControls();
menu_handler_.setCheckState(menu_handler_interaction_movement_, MenuHandler::CHECKED);
menu_handler_.setCheckState(menu_handler_interaction_rotation_, MenuHandler::CHECKED);
menu_handler_.setCheckState(menu_handler_interaction_scale_, MenuHandler::CHECKED);
}
else
{
removeMovementControls();
removeRotationControls();
removeScaleControls();
menu_handler_.setCheckState(menu_handler_interaction_movement_, MenuHandler::UNCHECKED);
menu_handler_.setCheckState(menu_handler_interaction_rotation_, MenuHandler::UNCHECKED);
menu_handler_.setCheckState(menu_handler_interaction_scale_, MenuHandler::UNCHECKED);
}
server_->insert(object_);
menu_handler_.reApply(*server_);
server_->applyChanges();
}
void Primitive::updateControls()
{
if (show_measure_control_)
{
removeMeasureControl();
addMeasureControl();
}
if (show_rotation_control_)
{
removeRotationControls();
addRotationControls();
}
if (show_movement_control_)
{
removeMovementControls();
addMovementControls();
}
if (show_description_control_)
{
removeDescriptionControl();
addDescriptionControl();
}
if (show_scale_control_)
{
updateScaleControls();
}
}
void BoundingBox::menuCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
MenuHandler::EntryHandle handle = feedback->menu_entry_id;
MenuHandler::CheckState state;
string title;
menu_handler_.getCheckState(handle, state);
menu_handler_.getTitle(handle, title);
updatePublisher_->publishMenuClicked(title, state);
InteractiveMarker o;
if (server_->get(name_, o))
{
pose_ = o.pose;
object_.pose = pose_;
}
switch (feedback->menu_entry_id)
{
case 1:
/*
* Bounding box visibility
*/
if (state == MenuHandler::CHECKED)
{
showBoundingBoxControl(false);
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
showBoundingBoxControl(true);
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 2:
/*
* Bounding box description
*/
if (state == MenuHandler::CHECKED)
{
removeDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 3:
/*
* Bounding box measure
*/
if (state == MenuHandler::CHECKED)
{
removeMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 5:
/*
* Movement controls
*/
if (state == MenuHandler::CHECKED)
{
removeMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 6:
/*
* Rotation controls
*/
if (state == MenuHandler::CHECKED)
{
removeRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 8:
/*
* Take object action
*/
ROS_INFO("Take object");
break;
case 9:
/*
* Throw object action
*/
ROS_INFO("Throw object");
break;
}
server_->insert(object_);
menu_handler_.reApply(*server_);
server_->applyChanges();
}
void Object::menuCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
MenuHandler::EntryHandle handle = feedback->menu_entry_id;
MenuHandler::CheckState state;
string title;
menu_handler_.getCheckState(handle, state);
menu_handler_.getTitle(handle, title);
updatePublisher_->publishMenuClicked(title, state);
/*InteractiveMarker o;
if (server_->get(name_, o))
{
pose_ = o.pose;
object_.pose = pose_;
}*/
switch (feedback->menu_entry_id)
{
case 1:
/*
* Object's bounding box visibility
*/
if (state == MenuHandler::CHECKED)
{
showBoundingBoxControl(false);
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
showBoundingBoxControl(true);
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 2:
/*
* Object's description visibility
*/
if (state == MenuHandler::CHECKED)
{
removeDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 3:
/*
* Object's measure visibility
*/
if (state == MenuHandler::CHECKED)
{
removeMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 4:
/*
* Object's pre-grasp positions visibility
*/
if (state == MenuHandler::CHECKED)
{
removePregraspPositions();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addPregraspPositions();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 5:
/*
* Move arm to pre-grasp position on click
*/
if (state == MenuHandler::CHECKED)
{
move_arm_to_pregrasp_onclick_ = false;
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
move_arm_to_pregrasp_onclick_ = true;
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 7:
/*
* Movement controls
*/
if (state == MenuHandler::CHECKED)
{
removeMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 8:
/*
* Rotation controls
*/
if (state == MenuHandler::CHECKED)
{
removeRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
}
server_->insert(object_);
menu_handler_.reApply(*server_);
server_->applyChanges();
}
void UnknownObject::menuCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
MenuHandler::EntryHandle handle = feedback->menu_entry_id;
MenuHandler::CheckState state;
string title;
menu_handler_.getCheckState(handle, state);
menu_handler_.getTitle(handle, title);
updatePublisher_->publishMenuClicked(title, state);
switch (feedback->menu_entry_id)
{
case 1:
/**
* Uknown object description
*/
if (state == MenuHandler::CHECKED)
{
removeDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addDescriptionControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 2:
/**
* Unknown object measure
*/
if (state == MenuHandler::CHECKED)
{
removeMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMeasureControl();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 4:
/*
* Enable all interaction controls
*/
addMovementControls();
addRotationControls();
addScaleControls();
menu_handler_.setCheckState(menu_handler_interaction_movement_, MenuHandler::CHECKED);
menu_handler_.setCheckState(menu_handler_interaction_rotation_, MenuHandler::CHECKED);
menu_handler_.setCheckState(menu_handler_interaction_scale_, MenuHandler::CHECKED);
break;
case 5:
/*
* Disable all interaction controls
*/
removeMovementControls();
removeRotationControls();
removeScaleControls();
menu_handler_.setCheckState(menu_handler_interaction_movement_, MenuHandler::UNCHECKED);
menu_handler_.setCheckState(menu_handler_interaction_rotation_, MenuHandler::UNCHECKED);
menu_handler_.setCheckState(menu_handler_interaction_scale_, MenuHandler::UNCHECKED);
break;
case 6:
/*
* Movement controls
*/
if (state == MenuHandler::CHECKED)
{
removeMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addMovementControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 7:
/*
* Rotation controls
*/
if (state == MenuHandler::CHECKED)
{
removeRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addRotationControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
case 8:
/*
* Scale controls
*/
if (state == MenuHandler::CHECKED)
{
removeScaleControls();
menu_handler_.setCheckState(handle, MenuHandler::UNCHECKED);
}
else
{
addScaleControls();
menu_handler_.setCheckState(handle, MenuHandler::CHECKED);
}
break;
}
server_->insert(object_);
menu_handler_.reApply(*server_);
server_->applyChanges();
}
