pose_tool.cpp

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/*
 * Copyright (c) 2008, 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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#include "pose_tool.h"
#include "common.h"
#include "visualization_manager.h"
#include "viewport_mouse_event.h"
#include "properties/property.h"
#include "properties/property_manager.h"

#include "ogre_tools/camera_base.h"
#include "ogre_tools/arrow.h"
#include "ogre_tools/wx_ogre_render_window.h"

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <OGRE/OgreRay.h>
#include <OGRE/OgrePlane.h>
#include <OGRE/OgreCamera.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreViewport.h>

#include <tf/transform_listener.h>

#include <wx/event.h>

namespace rviz
{

PoseTool::PoseTool( const std::string& name, char shortcut_key, VisualizationManager* manager )
: Tool( name, shortcut_key, manager )
{
  arrow_ = new ogre_tools::Arrow( scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f );
  arrow_->setColor( 0.0f, 1.0f, 0.0f, 1.0f );
  arrow_->getSceneNode()->setVisible( false );
}

PoseTool::~PoseTool()
{
  delete arrow_;
}

void PoseTool::activate()
{
  state_ = Position;
}

void PoseTool::deactivate()
{
  arrow_->getSceneNode()->setVisible( false );
}

Ogre::Vector3 PoseTool::getPositionFromMouseXY( Ogre::Viewport* viewport, int mouse_x, int mouse_y )
{
  int width = viewport->getActualWidth();
  int height = viewport->getActualHeight();

  Ogre::Ray mouse_ray = viewport->getCamera()->getCameraToViewportRay( (float)mouse_x / (float)width, (float)mouse_y / (float)height );
  Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Y, 0.0f );
  std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects( ground_plane );
  if ( !intersection.first )
  {
    return Ogre::Vector3::ZERO;
  }

  return mouse_ray.getPoint( intersection.second );
}

int PoseTool::processMouseEvent( ViewportMouseEvent& event )
{
  int flags = 0;

  if ( event.event.LeftDown() )
  {
    ROS_ASSERT( state_ == Position );

    pos_ = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
    arrow_->setPosition( pos_ );

    state_ = Orientation;
    flags |= Render;
  }
  else if ( event.event.Dragging() )
  {
    if ( state_ == Orientation )
    {
      Ogre::Vector3 cur_pos = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
      double angle = atan2(pos_.z - cur_pos.z, cur_pos.x - pos_.x);

      arrow_->getSceneNode()->setVisible( true );

      Ogre::Quaternion base_orient = Ogre::Quaternion( Ogre::Radian(Ogre::Math::HALF_PI), Ogre::Vector3::NEGATIVE_UNIT_Z );
      arrow_->setOrientation( Ogre::Quaternion( Ogre::Radian(angle - Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y ) * base_orient );

      flags |= Render;
    }
  }
  else if ( event.event.LeftUp() )
  {
    if ( state_ == Orientation )
    {
      Ogre::Vector3 cur_pos = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
      ogreToRobot( cur_pos );

      Ogre::Vector3 robot_pos = pos_;
      ogreToRobot( robot_pos );

      const std::string& fixed_frame = manager_->getFixedFrame();
      tf::Stamped<tf::Point> cur_pos_transformed( tf::Point(cur_pos.x, cur_pos.y, cur_pos.z), ros::Time(), fixed_frame );
      tf::Stamped<tf::Point> robot_pos_transformed( tf::Point(robot_pos.x, robot_pos.y, robot_pos.z), ros::Time(), fixed_frame );
      double angle = atan2(cur_pos_transformed.y() - robot_pos_transformed.y(), cur_pos_transformed.x() - robot_pos_transformed.x());

      onPoseSet(robot_pos_transformed.x(), robot_pos_transformed.y(), angle);

      flags |= (Finished|Render);
    }
  }

  return flags;
}

}

---

rviz
Author(s): Josh Faust
autogenerated on Fri Jan 11 09:35:55 2013