void ShapeMarker::enableMovement (const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
{
interactive_markers::MenuHandler::CheckState check_state;
menu_handler_.getCheckState (feedback->menu_entry_id, check_state);
shape_.header = marker_.header ;
//shape_.header.frame_id = "/map" ;
if (check_state == interactive_markers::MenuHandler::UNCHECKED)
{
// im_server_->setCallback(marker_.name,boost::bind (&ShapeMarker::setShapePosition, this, _1)
// ,visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE);
menu_handler_.setCheckState (feedback->menu_entry_id, interactive_markers::MenuHandler::CHECKED);
displayArrows();
}
else if (check_state == interactive_markers::MenuHandler::CHECKED)
{
menu_handler_.setCheckState (feedback->menu_entry_id, interactive_markers::MenuHandler::UNCHECKED);
hideArrows(1);
}
menu_handler_.reApply (*im_server_);
im_server_->applyChanges();
}
/** Displays the image view with its current image/ texts.
*/
void
CAImageSelector::display( bool active ) {
CAImageView::display( active );
CL_Rect crAll( 0,0, CA_APP->width, CA_APP->height );
CL_Rect crImage( left,top, right, bottom );
CA_APP->graphicContext->set_cliprect( crImage );
// Animate:
//
float diff = (float)newImage - currentImage;
float numImages2 = (float)numImages/2.0;
bool forward = false;
// Move forward or back?
//
if( (diff < numImages2 && diff > 0.0) ||
(diff < -numImages2) ) {
forward = true;
}
// Correct frame difference:
//
if( diff < -numImages2 ) diff += numImages;
if( diff > numImages2 ) diff -= numImages;
if( forward ) currentImage += fabs( diff ) / 6.0;
else currentImage -= fabs( diff ) / 6.0;
if( currentImage< 0.0 ) currentImage+=(float)numImages;
if( currentImage>(float)numImages ) currentImage-=(float)numImages;
int image1 = (int)floor( currentImage );
int image2 = (int)ceil( currentImage );
if( image2>=numImages ) image2=0;
float rest = currentImage-image1;
int center;
CL_SpriteDescription im1_desc = CL_SpriteDescription();
CL_SpriteDescription im2_desc = CL_SpriteDescription();
im1_desc.add_frame(image[image1].image);
im2_desc.add_frame(image[image2].image);
CL_Sprite im1(*CA_APP->graphicContext,im1_desc);
CL_Sprite im2(*CA_APP->graphicContext,im2_desc);
if( direction==Horizontal ) {
center = (left+right)/2;
int image1Pos = (int)(center - rest*width - image[image1].image.get_width()/2);
im1.draw ( *CA_APP->graphicContext,image1Pos, top+barHeight);
im2.draw ( *CA_APP->graphicContext,image1Pos + width, top+barHeight);
} else {
center = (top+bottom)/2;
int image1Pos = (int)(center - rest*height - image[image1].image.get_height()/2);
im1.draw ( *CA_APP->graphicContext,(left+right-image[image1].image.get_width())/2, image1Pos);
im2.draw ( *CA_APP->graphicContext,(left+right-image[image1].image.get_width())/2, image1Pos + height);
}
displayArrows( active );
CA_APP->graphicContext->set_cliprect( crAll );
}
