interaction.h

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/* Author: Acorn Pooley */
 
#pragma once
 
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <interactive_markers/menu_handler.hpp>
#include <moveit/robot_state/robot_state.h>
#include <functional>
#include <thread>
 
namespace moveit
{
namespace core
{
class RobotState;
}
}  // namespace moveit
 
namespace robot_interaction
{
namespace InteractionStyle
{
enum InteractionStyle
{
  POSITION_ARROWS = 1,      // arrows to change position
  ORIENTATION_CIRCLES = 2,  // circles to change orientation
  POSITION_SPHERE = 4,      // sphere: drag to change position
  ORIENTATION_SPHERE = 8,   // sphere: drag to change orientation
  POSITION_EEF = 16,        // drag end effector to change position
  ORIENTATION_EEF = 32,     // drag end effector to change orientation
  FIXED = 64,               // keep arrow and circle axis fixed
 
  POSITION = POSITION_ARROWS | POSITION_SPHERE | POSITION_EEF,
  ORIENTATION = ORIENTATION_CIRCLES | ORIENTATION_SPHERE | ORIENTATION_EEF,
  SIX_DOF = POSITION | ORIENTATION,
  SIX_DOF_SPHERE = POSITION_SPHERE | ORIENTATION_SPHERE,
  POSITION_NOSPHERE = POSITION_ARROWS | POSITION_EEF,
  ORIENTATION_NOSPHERE = ORIENTATION_CIRCLES | ORIENTATION_EEF,
  SIX_DOF_NOSPHERE = POSITION_NOSPHERE | ORIENTATION_NOSPHERE
};
}  // namespace InteractionStyle
 
typedef std::function<bool(const moveit::core::RobotState& state, visualization_msgs::msg::InteractiveMarker& marker)>
    InteractiveMarkerConstructorFn;
 
typedef std::function<bool(moveit::core::RobotState& state,
                           const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback)>
    ProcessFeedbackFn;
 
typedef std::function<bool(const moveit::core::RobotState&, geometry_msgs::msg::Pose&)> InteractiveMarkerUpdateFn;
 
struct GenericInteraction
{
  // Callback to construct interactive marker.
  // See comment on typedef above.
  InteractiveMarkerConstructorFn construct_marker;
 
  // Callback to handle interactive marker feedback messages.
  // See comment on typedef above.
  ProcessFeedbackFn process_feedback;
 
  // Callback to update marker pose when RobotState changes.
  // See comment on typedef above.
  InteractiveMarkerUpdateFn update_pose;
 
  // Suffix added to name of markers.
  // Automatically generated.
  std::string marker_name_suffix;
};
 
struct EndEffectorInteraction
{
  std::string parent_group;
 
  std::string parent_link;
 
  std::string eef_group;
 
  InteractionStyle::InteractionStyle interaction;
 
  double size;
};
 
struct JointInteraction
{
  std::string connecting_link;
 
  std::string parent_frame;
 
  std::string joint_name;
 
  unsigned int dof;
 
  double size;
};
}  // namespace robot_interaction