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package visualization_msgs.msg.dds;
import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;
/**
* Represents a control that is to be displayed together with an interactive marker
*/
public class InteractiveMarkerControl extends Packet implements Settable, EpsilonComparable
{
/**
* Orientation mode: controls how orientation changes.
* INHERIT: Follow orientation of interactive marker
* FIXED: Keep orientation fixed at initial state
* VIEW_FACING: Align y-z plane with screen (x: forward, y:left, z:up).
*/
public static final byte INHERIT = (byte) 0;
public static final byte FIXED = (byte) 1;
public static final byte VIEW_FACING = (byte) 2;
/**
* Interaction mode for this control
*
* NONE: This control is only meant for visualization; no context menu.
* MENU: Like NONE, but right-click menu is active.
* BUTTON: Element can be left-clicked.
* MOVE_AXIS: Translate along local x-axis.
* MOVE_PLANE: Translate in local y-z plane.
* ROTATE_AXIS: Rotate around local x-axis.
* MOVE_ROTATE: Combines MOVE_PLANE and ROTATE_AXIS.
*/
public static final byte NONE = (byte) 0;
public static final byte MENU = (byte) 1;
public static final byte BUTTON = (byte) 2;
public static final byte MOVE_AXIS = (byte) 3;
public static final byte MOVE_PLANE = (byte) 4;
public static final byte ROTATE_AXIS = (byte) 5;
public static final byte MOVE_ROTATE = (byte) 6;
/**
* "3D" interaction modes work with the mouse+SHIFT+CTRL or with 3D cursors.
* MOVE_3D: Translate freely in 3D space.
* ROTATE_3D: Rotate freely in 3D space about the origin of parent frame.
* MOVE_ROTATE_3D: Full 6-DOF freedom of translation and rotation about the cursor origin.
*/
public static final byte MOVE_3D = (byte) 7;
public static final byte ROTATE_3D = (byte) 8;
public static final byte MOVE_ROTATE_3D = (byte) 9;
/**
* Identifying string for this control.
* You need to assign a unique value to this to receive feedback from the GUI
* on what actions the user performs on this control (e.g. a button click).
*/
public java.lang.StringBuilder name_;
/**
* Defines the local coordinate frame (relative to the pose of the parent
* interactive marker) in which is being rotated and translated.
* Default: Identity
*/
public us.ihmc.euclid.tuple4D.Quaternion orientation_;
public byte orientation_mode_;
public byte interaction_mode_;
/**
* If true, the contained markers will also be visible
* when the gui is not in interactive mode.
*/
public boolean always_visible_;
/**
* Markers to be displayed as custom visual representation.
* Leave this empty to use the default control handles.
*
* Note:
* - The markers can be defined in an arbitrary coordinate frame,
* but will be transformed into the local frame of the interactive marker.
* - If the header of a marker is empty, its pose will be interpreted as
* relative to the pose of the parent interactive marker.
*/
public us.ihmc.idl.IDLSequence.Object markers_;
/**
* In VIEW_FACING mode, set this to true if you don't want the markers
* to be aligned with the camera view point. The markers will show up
* as in INHERIT mode.
*/
public boolean independent_marker_orientation_;
/**
* Short description (< 40 characters) of what this control does,
* e.g. "Move the robot".
* Default: A generic description based on the interaction mode
*/
public java.lang.StringBuilder description_;
public InteractiveMarkerControl()
{
name_ = new java.lang.StringBuilder(255);
orientation_ = new us.ihmc.euclid.tuple4D.Quaternion();
markers_ = new us.ihmc.idl.IDLSequence.Object (100, new visualization_msgs.msg.dds.MarkerPubSubType());
description_ = new java.lang.StringBuilder(255);
}
public InteractiveMarkerControl(InteractiveMarkerControl other)
{
this();
set(other);
}
public void set(InteractiveMarkerControl other)
{
name_.setLength(0);
name_.append(other.name_);
geometry_msgs.msg.dds.QuaternionPubSubType.staticCopy(other.orientation_, orientation_);
orientation_mode_ = other.orientation_mode_;
interaction_mode_ = other.interaction_mode_;
always_visible_ = other.always_visible_;
markers_.set(other.markers_);
independent_marker_orientation_ = other.independent_marker_orientation_;
description_.setLength(0);
description_.append(other.description_);
}
/**
* Identifying string for this control.
* You need to assign a unique value to this to receive feedback from the GUI
* on what actions the user performs on this control (e.g. a button click).
*/
public void setName(java.lang.String name)
{
name_.setLength(0);
name_.append(name);
}
/**
* Identifying string for this control.
* You need to assign a unique value to this to receive feedback from the GUI
* on what actions the user performs on this control (e.g. a button click).
*/
public java.lang.String getNameAsString()
{
return getName().toString();
}
/**
* Identifying string for this control.
* You need to assign a unique value to this to receive feedback from the GUI
* on what actions the user performs on this control (e.g. a button click).
*/
public java.lang.StringBuilder getName()
{
return name_;
}
/**
* Defines the local coordinate frame (relative to the pose of the parent
* interactive marker) in which is being rotated and translated.
* Default: Identity
*/
public us.ihmc.euclid.tuple4D.Quaternion getOrientation()
{
return orientation_;
}
public void setOrientationMode(byte orientation_mode)
{
orientation_mode_ = orientation_mode;
}
public byte getOrientationMode()
{
return orientation_mode_;
}
public void setInteractionMode(byte interaction_mode)
{
interaction_mode_ = interaction_mode;
}
public byte getInteractionMode()
{
return interaction_mode_;
}
/**
* If true, the contained markers will also be visible
* when the gui is not in interactive mode.
*/
public void setAlwaysVisible(boolean always_visible)
{
always_visible_ = always_visible;
}
/**
* If true, the contained markers will also be visible
* when the gui is not in interactive mode.
*/
public boolean getAlwaysVisible()
{
return always_visible_;
}
/**
* Markers to be displayed as custom visual representation.
* Leave this empty to use the default control handles.
*
* Note:
* - The markers can be defined in an arbitrary coordinate frame,
* but will be transformed into the local frame of the interactive marker.
* - If the header of a marker is empty, its pose will be interpreted as
* relative to the pose of the parent interactive marker.
*/
public us.ihmc.idl.IDLSequence.Object getMarkers()
{
return markers_;
}
/**
* In VIEW_FACING mode, set this to true if you don't want the markers
* to be aligned with the camera view point. The markers will show up
* as in INHERIT mode.
*/
public void setIndependentMarkerOrientation(boolean independent_marker_orientation)
{
independent_marker_orientation_ = independent_marker_orientation;
}
/**
* In VIEW_FACING mode, set this to true if you don't want the markers
* to be aligned with the camera view point. The markers will show up
* as in INHERIT mode.
*/
public boolean getIndependentMarkerOrientation()
{
return independent_marker_orientation_;
}
/**
* Short description (< 40 characters) of what this control does,
* e.g. "Move the robot".
* Default: A generic description based on the interaction mode
*/
public void setDescription(java.lang.String description)
{
description_.setLength(0);
description_.append(description);
}
/**
* Short description (< 40 characters) of what this control does,
* e.g. "Move the robot".
* Default: A generic description based on the interaction mode
*/
public java.lang.String getDescriptionAsString()
{
return getDescription().toString();
}
/**
* Short description (< 40 characters) of what this control does,
* e.g. "Move the robot".
* Default: A generic description based on the interaction mode
*/
public java.lang.StringBuilder getDescription()
{
return description_;
}
public static Supplier getPubSubType()
{
return InteractiveMarkerControlPubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return InteractiveMarkerControlPubSubType::new;
}
@Override
public boolean epsilonEquals(InteractiveMarkerControl other, double epsilon)
{
if(other == null) return false;
if(other == this) return true;
if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.name_, other.name_, epsilon)) return false;
if (!this.orientation_.epsilonEquals(other.orientation_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.orientation_mode_, other.orientation_mode_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.interaction_mode_, other.interaction_mode_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.always_visible_, other.always_visible_, epsilon)) return false;
if (this.markers_.size() != other.markers_.size()) { return false; }
else
{
for (int i = 0; i < this.markers_.size(); i++)
{ if (!this.markers_.get(i).epsilonEquals(other.markers_.get(i), epsilon)) return false; }
}
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.independent_marker_orientation_, other.independent_marker_orientation_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.description_, other.description_, epsilon)) return false;
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof InteractiveMarkerControl)) return false;
InteractiveMarkerControl otherMyClass = (InteractiveMarkerControl) other;
if (!us.ihmc.idl.IDLTools.equals(this.name_, otherMyClass.name_)) return false;
if (!this.orientation_.equals(otherMyClass.orientation_)) return false;
if(this.orientation_mode_ != otherMyClass.orientation_mode_) return false;
if(this.interaction_mode_ != otherMyClass.interaction_mode_) return false;
if(this.always_visible_ != otherMyClass.always_visible_) return false;
if (!this.markers_.equals(otherMyClass.markers_)) return false;
if(this.independent_marker_orientation_ != otherMyClass.independent_marker_orientation_) return false;
if (!us.ihmc.idl.IDLTools.equals(this.description_, otherMyClass.description_)) return false;
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("InteractiveMarkerControl {");
builder.append("name=");
builder.append(this.name_); builder.append(", ");
builder.append("orientation=");
builder.append(this.orientation_); builder.append(", ");
builder.append("orientation_mode=");
builder.append(this.orientation_mode_); builder.append(", ");
builder.append("interaction_mode=");
builder.append(this.interaction_mode_); builder.append(", ");
builder.append("always_visible=");
builder.append(this.always_visible_); builder.append(", ");
builder.append("markers=");
builder.append(this.markers_); builder.append(", ");
builder.append("independent_marker_orientation=");
builder.append(this.independent_marker_orientation_); builder.append(", ");
builder.append("description=");
builder.append(this.description_);
builder.append("}");
return builder.toString();
}
}
