Proposer: Adam Leeper
Present at review:
- Dave Hershberger
- David Gossow
- Jon Binney
- Tully Foote
To support interaction using a 3-DOF and/or 6-DOF cursor, I propose adding a few const uint8 values to the possible interaction modes in InteractiveMarkerControl.
Please consider the changes below and then either sign-off or put any thoughts/objections/amendments in section 2.
So it would now look like:
# 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. uint8 NONE = 0 uint8 MENU = 1 uint8 BUTTON = 2 uint8 MOVE_AXIS = 3 uint8 MOVE_PLANE = 4 uint8 ROTATE_AXIS = 5 uint8 MOVE_ROTATE = 6 # "3D" interaction modes have been added to support 3D cursors. # MOVE_3D: Translate freely in 3D space. # ROTATE_3D: Rotate freely in 3D space, around origin of parent. # MOVE_ROTATE_3D: Full 6-DOF freedom of translation and rotation about the cursor origin (e.g. where the marker was grabbed). uint8 MOVE_3D = 7 uint8 ROTATE_3D = 8 uint8 MOVE_ROTATE_3D = 9
Question / concerns / comments
Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.
Dave: ROTATE_3D should rotate around the position of the parent InteractiveMarker. InteractiveMarker message comment specifically mentions setting the pivot point for rotations.
Dave: Otherwise looks good to me.
David: I basically agree with Dave.
David: If this is supposed go into Groovy, there also has to be a reference implementation in RViz.
David: How would the default visualization look like?
Tully: Looks reasonable to me.
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