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Revision bb70c69d

IDbb70c69d258a6ff4aea4f72361b0c82b7e27507d

Added by Thomas Mullins about 12 years ago

Fixed callback problem using std::bind

Still some TODO's.

View differences:

vision/src/rviz_interactive_target.cpp
2 2 
#include <string.h>
3 3 
#include <geometry_msgs/Quaternion.h>
4 4 
#include <interactive_markers/interactive_marker_server.h>
5 
#include <functional>
5 6 

  		




  6
  7
  
    
using namespace std;


  		




  7
  8
  
    
using namespace visualization_msgs;


  		




  8
  9
  
    

  		




  9
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/* TODO:


  		




  10
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 * -replace the three MOVE_AXIS directions with one MOVE_AXIS and one MOVE_PLANE


  		




  11
  
  
    
 * -make it compile without needing class Callback


  		




  12
  12
  
    
 * -have it constantly publish current position, instead of only publishing


  		




  13
  13
  
    
 *  when the marker is moved


  		




  14
  14
  
    
 */


  		




  ......




  25
  25
  
    
  ros::Publisher pub;


  		




  26
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};


  		




  27
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  28
  
  
    
// boost should be able to do this, but... I could _not_ make it compile


  		




  29
  
  
    
// so, I wrote my own


  		




  30
  
  
    
template <class class_t, class arg_t> class Callback


  		




  31
  
  
    
{


  		




  32
  
  
    
public:


  		




  33
  
  
    
  Callback(void (class_t::*cb)(arg_t), class_t* obj) : cb(cb), obj(obj) {}


  		




  34
  
  
    
  void operator()(arg_t arg) {(obj->*cb)(arg);}


  		




  35
  
  
    
private:


  		




  36
  
  
    
  void (class_t::*cb)(arg_t);


  		




  37
  
  
    
  class_t* obj;


  		




  38
  
  
    
};


  		




  39
  
  
    

  		




  40
  28
  
    
Marker3DOF::Marker3DOF(interactive_markers::InteractiveMarkerServer& server)


  		




  41
  29
  
    
{


  		




  42
  30
  
    
  marker.header.frame_id = "/quadrotor";


  		




  ......




  49
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  addControl("target_y", 0, 1, 0, 1);


  		




  50
  38
  
    
  addControl("target_z", 0, 0, 1, 1);


  		




  51
  39
  
    
  server.insert(marker);


  		




  52
  
  
    
  server.setCallback("target", Callback<Marker3DOF, const


  		




  53
  
  
    
      InteractiveMarkerFeedbackConstPtr&>(&Marker3DOF::processFeedback, this));


  		




  
  40
  
    
  server.setCallback("target", bind(&Marker3DOF::processFeedback, this, _1));


  		




  54
  41
  
    
  server.applyChanges();


  		




  55
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  pub = nh.advertise<geometry_msgs::Point>("/v2v3_converter/target_3d", 100);


  		




  56
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}


  		












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