frame_position_tracking_view_controller.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <OgreCamera.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
 
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <rviz/properties/enum_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/view_manager.h>
 
#include <rviz/frame_position_tracking_view_controller.h>
 
namespace rviz
{
FramePositionTrackingViewController::FramePositionTrackingViewController() : target_scene_node_(nullptr)
{
  target_frame_property_ =
      new TfFrameProperty("Target Frame", TfFrameProperty::FIXED_FRAME_STRING,
                          "TF frame whose motion this view will follow.", this, nullptr, true);
}
 
void FramePositionTrackingViewController::onInitialize()
{
  target_frame_property_->setFrameManager(context_->getFrameManager());
 
  target_scene_node_ = context_->getSceneManager()->getRootSceneNode()->createChildSceneNode();
  camera_->detachFromParent();
  target_scene_node_->attachObject(camera_);
}
 
FramePositionTrackingViewController::~FramePositionTrackingViewController()
{
  context_->getSceneManager()->destroySceneNode(target_scene_node_);
}
 
void FramePositionTrackingViewController::onActivate()
{
  updateTargetSceneNode();
 
  // Before activation, changes to target frame property should have
  // no side-effects.  After activation, changing target frame
  // property has the side effect (typically) of changing an offset
  // property so that the view does not jump.  Therefore we make the
  // signal/slot connection from the property here in onActivate()
  // instead of in the constructor.
  connect(target_frame_property_, &Property::changed, this,
          &FramePositionTrackingViewController::updateTargetFrame);
}
 
void FramePositionTrackingViewController::update(float /*dt*/, float /*ros_dt*/)
{
  updateTargetSceneNode();
}
 
void FramePositionTrackingViewController::updateTargetFrame()
{
  Ogre::Vector3 old_position = target_scene_node_->getPosition();
  Ogre::Quaternion old_orientation = target_scene_node_->getOrientation();
 
  updateTargetSceneNode();
 
  onTargetFrameChanged(old_position, old_orientation);
}
 
bool FramePositionTrackingViewController::getNewTransform()
{
  Ogre::Vector3 new_reference_position;
  Ogre::Quaternion new_reference_orientation;
 
  bool got_transform =
      context_->getFrameManager()->getTransform(target_frame_property_->getFrameStd(), ros::Time(),
                                                new_reference_position, new_reference_orientation);
  if (got_transform)
  {
    reference_position_ = new_reference_position;
    reference_orientation_ = new_reference_orientation;
  }
  return got_transform;
}
 
void FramePositionTrackingViewController::updateTargetSceneNode()
{
  if (getNewTransform())
  {
    target_scene_node_->setPosition(reference_position_);
 
    context_->queueRender();
  }
 
  // Need to incorporate this functionality somehow....  Maybe right into TfFrameProperty itself.
}
 
void FramePositionTrackingViewController::mimic(ViewController* source_view)
{
  QVariant target_frame = source_view->subProp("Target Frame")->getValue();
  if (target_frame.isValid())
  {
    target_frame_property_->setValue(target_frame);
  }
}
 
} // end namespace rviz