rviz: view_controller.h Source File

00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_VIEW_CONTROLLER_H
00031 #define RVIZ_VIEW_CONTROLLER_H
00032 
00033 #include <string>
00034 
00035 namespace Ogre
00036 {
00037 class Camera;
00038 class SceneNode;
00039 class Vector3;
00040 class Quaternion;
00041 }
00042 
00043 namespace rviz
00044 {
00045 
00046 class VisualizationManager;
00047 class ViewportMouseEvent;
00048 
00049 class ViewController
00050 {
00051 public:
00052   ViewController(VisualizationManager* manager, const std::string& name);
00053   virtual ~ViewController();
00054 
00055   void activate(Ogre::Camera* camera, const std::string& reference_frame);
00056   void deactivate();
00057   void update(float dt, float ros_dt);
00058   void setReferenceFrame(const std::string& reference_frame);
00059   const std::string& getName() { return name_; }
00060 
00061   virtual void handleMouseEvent(ViewportMouseEvent& evt) {}
00062   virtual void fromString(const std::string& str) = 0;
00063   virtual std::string toString() = 0;
00064   virtual void lookAt( const Ogre::Vector3& point ) = 0;
00065   virtual std::string getClassName() = 0;
00066 
00067 protected:
00068   virtual void onActivate() = 0;
00069   virtual void onDeactivate() = 0;
00070   virtual void onReferenceFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation) = 0;
00071   virtual void onUpdate(float dt, float ros_dt) {}
00072 
00073   void updateReferenceNode();
00074 
00075   VisualizationManager* manager_;
00076   Ogre::Camera* camera_;
00077   std::string reference_frame_;
00078   Ogre::SceneNode* reference_node_;
00079 
00080   std::string name_;
00081 };
00082 
00083 }
00084 
00085 #endif // RVIZ_VIEW_CONTROLLER_H