drag_box_marker.h

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#ifndef _RAPID_VIZ_DRAG_BOX_MARKER_H_
#define _RAPID_VIZ_DRAG_BOX_MARKER_H_

#include <string>

#include "geometry_msgs/Point.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Vector3.h"
#include "interactive_markers/interactive_marker_server.h"
#include "transform_graph/graph.h"
#include "visualization_msgs/InteractiveMarker.h"

namespace rapid {
//
class DragBoxMarker {
 public:
  DragBoxMarker(const std::string& name,
                interactive_markers::InteractiveMarkerServer* im_server);

  void Show();

  void Hide();

  void set_pose_stamped(const geometry_msgs::PoseStamped& pose_stamped);

  void set_min_x(double min_x);

  void set_max_x(double max_x);

  void set_min_y(double min_y);

  void set_max_y(double max_y);

  void set_min_z(double min_z);

  void set_max_z(double max_z);

  geometry_msgs::PoseStamped pose_stamped();
  double min_x();
  double max_x();
  double min_y();
  double max_y();
  double min_z();
  double max_z();

 private:
  // Update the interactive markers, assuming that min/max_xyz have been set.
  void Update();
  // Computes min/max_xyz given a new arrow position
  void UpdateArrow(const std::string& axis, const std::string& polarity,
                   const geometry_msgs::Point& point);
  void Feedback(
      const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
  void MakeBox(visualization_msgs::InteractiveMarker* box);
  void MakeArrow(const std::string& axis, const std::string& polarity,
                 visualization_msgs::InteractiveMarker* arrow);

  std::string name_;
  interactive_markers::InteractiveMarkerServer* im_server_;

  geometry_msgs::PoseStamped pose_stamped_;
  double min_x_;
  double max_x_;
  double min_y_;
  double max_y_;
  double min_z_;
  double max_z_;

  transform_graph::Graph tf_graph_;
};

}  // namespace rapid

#endif  // _RAPID_VIZ_DRAG_BOX_MARKER_H_