rviz::OrbitViewController Class Reference

An orbital camera, controlled by yaw, pitch, distance, and focal point. More...

#include <orbit_view_controller.h>

Inheritance diagram for rviz::OrbitViewController:

Public Member Functions
virtual void	fromString (const std::string &str)
virtual std::string	getClassName ()
virtual void	handleMouseEvent (ViewportMouseEvent &evt)
virtual void	lookAt (const Ogre::Vector3 &point)
void	move (float x, float y, float z)
	OrbitViewController (VisualizationManager manager, const std::string &name, Ogre::SceneNode target_scene_node)
void	pitch (float angle)
virtual std::string	toString ()
void	yaw (float angle)
void	zoom (float amount)
	Move in/out from the focal point, ie. adjust distance_ by amount.
virtual	~OrbitViewController ()
Static Public Member Functions
static std::string	getClassNameStatic ()
Protected Member Functions
void	calculatePitchYawFromPosition (const Ogre::Vector3 &position)
	Calculates pitch and yaw values given a new position and the current focal point.
void	normalizePitch ()
	Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down).
void	normalizeYaw ()
	Normalizes the camera's yaw in the range [0, 2*pi).
virtual void	onActivate ()
virtual void	onDeactivate ()
virtual void	onTargetFrameChanged (const Ogre::Vector3 &old_reference_position, const Ogre::Quaternion &old_reference_orientation)
virtual void	onUpdate (float dt, float ros_dt)
void	updateCamera ()
Protected Attributes
float	distance_
	The camera's distance from the focal point.
Ogre::Vector3	focal_point_
	The camera's focal point.
ogre_tools::Shape *	focal_shape_
float	pitch_
	The camera's pitch (rotation around the x-axis), in radians.
float	yaw_
	The camera's yaw (rotation around the y-axis), in radians.

Detailed Description

An orbital camera, controlled by yaw, pitch, distance, and focal point.

This camera is based on the equation of a sphere in spherical coordinates:

 x = d*cos(theta)sin(phi)
 y = d*cos(phi)
 z = d*sin(theta)sin(phi)

Where:
d = distance_
theta = yaw_
phi = pitch_

Definition at line 60 of file orbit_view_controller.h.

Constructor & Destructor Documentation

rviz::OrbitViewController::OrbitViewController	(	VisualizationManager *	manager,
		const std::string &	name,
		Ogre::SceneNode *	target_scene_node
	)

Definition at line 39 of file orbit_view_controller.cpp.

rviz::OrbitViewController::~OrbitViewController ( ) [virtual]

Definition at line 52 of file orbit_view_controller.cpp.

Member Function Documentation

void rviz::OrbitViewController::calculatePitchYawFromPosition ( const Ogre::Vector3 & position ) [protected]

Calculates pitch and yaw values given a new position and the current focal point.

Parameters:

position

Position to calculate the pitch/yaw for

Definition at line 236 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::fromString ( const std::string & str ) [virtual]

Implements rviz::ViewController.

Definition at line 271 of file orbit_view_controller.cpp.

virtual std::string rviz::OrbitViewController::getClassName ( ) [inline, virtual]

Implements rviz::ViewController.

Definition at line 82 of file orbit_view_controller.h.

static std::string rviz::OrbitViewController::getClassNameStatic ( ) [inline, static]

Definition at line 81 of file orbit_view_controller.h.

void rviz::OrbitViewController::handleMouseEvent ( ViewportMouseEvent & evt ) [virtual]

Reimplemented from rviz::ViewController.

Definition at line 57 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::lookAt ( const Ogre::Vector3 & point ) [virtual]

Implements rviz::ViewController.

Definition at line 159 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::move	(	float	x,
		float	y,
		float	z
	)

Definition at line 266 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::normalizePitch ( ) [protected]

Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down).

Definition at line 183 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::normalizeYaw ( ) [protected]

Normalizes the camera's yaw in the range [0, 2*pi).

Definition at line 195 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::onActivate ( ) [protected, virtual]

Implements rviz::ViewController.

Definition at line 127 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::onDeactivate ( ) [protected, virtual]

Implements rviz::ViewController.

Definition at line 148 of file orbit_view_controller.cpp.

void rviz::OrbitViewController::onTargetFrameChanged	(	const Ogre::Vector3 &	old_reference_position,
		const Ogre::Quaternion &	old_reference_orientation
	)			`[protected, virtual]`