rviz::InteractiveMarkerControl Class Reference

#include <interactive_marker_control.h>

Public Member Functions
virtual void	enableInteraction (bool enable)
virtual void	handleMouseEvent (ViewportMouseEvent &event)
	InteractiveMarkerControl (VisualizationManager vis_manager, const visualization_msgs::InteractiveMarkerControl &message, Ogre::SceneNode reference_node, InteractiveMarker *parent)
void	interactiveMarkerPoseChanged (Ogre::Vector3 int_marker_position, Ogre::Quaternion int_marker_orientation)
bool	isInteractive ()
void	setVisible (bool visible)
void	update ()
virtual	~InteractiveMarkerControl ()
Protected Types
typedef boost::shared_ptr < MarkerBase >	MarkerBasePtr
typedef boost::shared_ptr < PointsMarker >	PointsMarkerPtr
Protected Member Functions
void	addHighlightPass (S_MaterialPtr materials)
	take all the materials, add a highlight pass and store a pointer to the pass for later use
Ogre::Vector3	closestPointOnLineToPoint (const Ogre::Vector3 &line_start, const Ogre::Vector3 &line_dir, const Ogre::Vector3 &test_point)
bool	findClosestPoint (const Ogre::Ray &target_ray, const Ogre::Ray &mouse_ray, Ogre::Vector3 &closest_point)
void	handleMouseMovement (ViewportMouseEvent &event)
bool	intersectSomeYzPlane (const Ogre::Ray &mouse_ray, const Ogre::Vector3 &point_in_plane, const Ogre::Quaternion &plane_orientation, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t)
	compute intersection between mouse ray and a y-z plane.
bool	intersectYzPlane (const Ogre::Ray &mouse_ray, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t)
	compute intersection between mouse ray and y-z plane given in local coordinates
void	moveAxis (const Ogre::Ray &mouse_ray, const ViewportMouseEvent &event)
void	movePlane (Ogre::Ray &mouse_ray)
void	moveRotate (Ogre::Ray &mouse_ray)
virtual void	preFindVisibleObjects (Ogre::SceneManager source, Ogre::SceneManager::IlluminationRenderStage irs, Ogre::Viewport v)
void	recordDraggingInPlaceEvent (ViewportMouseEvent &event)
void	rotate (Ogre::Ray &mouse_ray)
void	setHighlight (float a)
void	worldToScreen (const Ogre::Vector3 &pos_rel_reference, const Ogre::Viewport *viewport, Ogre::Vector2 &screen_pos)
Protected Attributes
bool	always_visible_
CollObjectHandle	coll_object_handle_
Ogre::SceneNode *	control_frame_node_
Ogre::Quaternion	control_frame_orientation_at_mouse_down_
Ogre::Quaternion	control_orientation_
std::string	description_
bool	dragging_
ViewportMouseEvent	dragging_in_place_event_
Ogre::Vector2	grab_pixel_
Ogre::Vector3	grab_point_
Ogre::Vector3	grab_point_rel_control_
bool	has_focus_
std::set< Ogre::Pass * >	highlight_passes_
bool	independent_marker_orientation_
bool	interaction_enabled_
int	interaction_mode_
Ogre::Quaternion	intitial_orientation_
std::vector< MarkerBasePtr >	markers_
Ogre::SceneNode *	markers_node_
std::string	name_
int	orientation_mode_
InteractiveMarker *	parent_
Ogre::Quaternion	parent_orientation_at_mouse_down_
Ogre::Vector3	parent_position_at_mouse_down_
std::vector< PointsMarkerPtr >	points_markers_
Ogre::SceneNode *	reference_node_
Ogre::Radian	rotation_
Ogre::Radian	rotation_at_mouse_down_
Ogre::Vector3	rotation_axis_
Ogre::Vector3	rotation_center_rel_control_
VisualizationManager *	vis_manager_
bool	visible_

Detailed Description

A single control element of an InteractiveMarker.

Definition at line 60 of file interactive_marker_control.h.

Member Typedef Documentation

typedef boost::shared_ptr<MarkerBase> rviz::InteractiveMarkerControl::MarkerBasePtr [protected]

Definition at line 199 of file interactive_marker_control.h.

typedef boost::shared_ptr<PointsMarker> rviz::InteractiveMarkerControl::PointsMarkerPtr [protected]

Definition at line 209 of file interactive_marker_control.h.

Constructor & Destructor Documentation

rviz::InteractiveMarkerControl::InteractiveMarkerControl	(	VisualizationManager *	vis_manager,
		const visualization_msgs::InteractiveMarkerControl &	message,
		Ogre::SceneNode *	reference_node,
		InteractiveMarker *	parent
	)

Definition at line 61 of file interactive_marker_control.cpp.

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

Definition at line 183 of file interactive_marker_control.cpp.

Member Function Documentation

void rviz::InteractiveMarkerControl::addHighlightPass ( S_MaterialPtr materials ) [protected]

take all the materials, add a highlight pass and store a pointer to the pass for later use

Definition at line 743 of file interactive_marker_control.cpp.

Ogre::Vector3 rviz::InteractiveMarkerControl::closestPointOnLineToPoint	(	const Ogre::Vector3 &	line_start,
		const Ogre::Vector3 &	line_dir,
		const Ogre::Vector3 &	test_point
	)			`[protected]`

Definition at line 288 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::enableInteraction ( bool enable ) [virtual]

Definition at line 245 of file interactive_marker_control.cpp.

bool rviz::InteractiveMarkerControl::findClosestPoint	(	const Ogre::Ray &	target_ray,
		const Ogre::Ray &	mouse_ray,
		Ogre::Vector3 &	closest_point
	)			`[protected]`

Find the closest point on target_ray to mouse_ray.

Parameters:

closest_point

contains result point on target_ray if rays are not effectively parallel.

Returns:: false if rays are effectively parallel, true otherwise.

Find the closest point on target_ray to mouse_ray.

Returns:: false if rays are effectively parallel, true otherwise.

Definition at line 382 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::handleMouseEvent ( ViewportMouseEvent & event ) [virtual]

Definition at line 545 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::handleMouseMovement ( ViewportMouseEvent & event ) [protected]

Definition at line 659 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::interactiveMarkerPoseChanged	(	Ogre::Vector3	int_marker_position,
		Ogre::Quaternion	int_marker_orientation
	)

Update the pose of the interactive marker being controlled, relative to the reference frame. Each InteractiveMarkerControl maintains its pose relative to the reference frame independently, so when the parent InteractiveMarker mvoes, it calls this function on all its child controls.

Definition at line 255 of file interactive_marker_control.cpp.

bool rviz::InteractiveMarkerControl::intersectSomeYzPlane	(	const Ogre::Ray &	mouse_ray,
		const Ogre::Vector3 &	point_in_plane,
		const Ogre::Quaternion &	plane_orientation,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t
	)			`[protected]`

compute intersection between mouse ray and a y-z plane.

Definition at line 713 of file interactive_marker_control.cpp.

bool rviz::InteractiveMarkerControl::intersectYzPlane	(	const Ogre::Ray &	mouse_ray,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t
	)			`[protected]`

compute intersection between mouse ray and y-z plane given in local coordinates

Definition at line 702 of file interactive_marker_control.cpp.

bool rviz::InteractiveMarkerControl::isInteractive ( ) [inline]

Definition at line 83 of file interactive_marker_control.h.

void rviz::InteractiveMarkerControl::moveAxis	(	const Ogre::Ray &	mouse_ray,
		const ViewportMouseEvent &	event
	)			`[protected]`

Definition at line 413 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::movePlane ( Ogre::Ray & mouse_ray ) [protected]

Translate, following the mouse movement.

Definition at line 348 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::moveRotate ( Ogre::Ray & mouse_ray ) [protected]

Rotate and translate to follow the mouse movement. mouse_ray is relative to the reference frame.

Definition at line 464 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::preFindVisibleObjects	(	Ogre::SceneManager *	source,
		Ogre::SceneManager::IlluminationRenderStage	irs,
		Ogre::Viewport *	v
	)			`[protected, virtual]`

Definition at line 196 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::recordDraggingInPlaceEvent ( ViewportMouseEvent & event ) [protected]

Definition at line 539 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::rotate ( Ogre::Ray & mouse_ray ) [protected]

Rotate the pose, following the mouse movement. mouse_ray is relative to the reference frame.

Definition at line 306 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::setHighlight ( float a ) [protected]

Definition at line 524 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::setVisible ( bool visible )

Definition at line 224 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::update ( )

Definition at line 237 of file interactive_marker_control.cpp.

void rviz::InteractiveMarkerControl::worldToScreen	(	const Ogre::Vector3 &	pos_rel_reference,
		const Ogre::Viewport *	viewport,
		Ogre::Vector2 &	screen_pos
	)			`[protected]`

Project a reference position onto the viewport to find screen coordinates in pixels.

Parameters:

screen_pos

the resultant screen position, in pixels.

Project a world position onto the viewport to find screen coordinates in pixels.

Parameters:

screen_pos

the resultant screen position, in pixels.

Definition at line 363 of file interactive_marker_control.cpp.

Member Data Documentation

bool rviz::InteractiveMarkerControl::always_visible_ [protected]

Definition at line 193 of file interactive_marker_control.h.

CollObjectHandle rviz::InteractiveMarkerControl::coll_object_handle_ [protected]

Definition at line 161 of file interactive_marker_control.h.

Ogre::SceneNode* rviz::InteractiveMarkerControl::control_frame_node_ [protected]

Represents the local frame of this control relative to reference node/frame. There is no intermediate InteractiveMarker node or frame, each control keeps track of its pose relative to the reference frame independently. In INHERIT mode, this will have an identical pose as the rest of the interactive marker, otherwise its orientation might be different.

Definition at line 173 of file interactive_marker_control.h.

Ogre::Quaternion rviz::InteractiveMarkerControl::control_frame_orientation_at_mouse_down_ [protected]

The orientation of the control_frame_node_ when the mouse button is pressed.

Definition at line 234 of file interactive_marker_control.h.

Ogre::Quaternion rviz::InteractiveMarkerControl::control_orientation_ [protected]

Defines the axis / plane along which to transform. This is not keeping track of rotations applied to the control by the user, this is just a copy of the "orientation" parameter from the InteractiveMarkerControl message.

Definition at line 191 of file interactive_marker_control.h.

std::string rviz::InteractiveMarkerControl::description_ [protected]

Definition at line 195 of file interactive_marker_control.h.

bool rviz::InteractiveMarkerControl::dragging_ [protected]

Definition at line 155 of file interactive_marker_control.h.

ViewportMouseEvent rviz::InteractiveMarkerControl::dragging_in_place_event_ [protected]

Definition at line 157 of file interactive_marker_control.h.

Ogre::Vector2 rviz::InteractiveMarkerControl::grab_pixel_ [protected]

Definition at line 228 of file interactive_marker_control.h.

Ogre::Vector3 rviz::InteractiveMarkerControl::grab_point_ [protected]

The 3D position of the mouse click when the mouse button is pressed, relative to the reference frame.

Definition at line 225 of file interactive_marker_control.h.

Ogre::Vector3 rviz::InteractiveMarkerControl::grab_point_rel_control_ [protected]

The grab point during a mouse drag, relative to the control frame. Computed on mouse down event.

Definition at line 251 of file interactive_marker_control.h.

bool rviz::InteractiveMarkerControl::has_focus_ [protected]

Definition at line 253 of file interactive_marker_control.h.

std::set<Ogre::Pass*> rviz::InteractiveMarkerControl::highlight_passes_ [protected]

Definition at line 204 of file interactive_marker_control.h.

bool rviz::InteractiveMarkerControl::independent_marker_orientation_ [protected]

Definition at line 185 of file interactive_marker_control.h.

bool rviz::InteractiveMarkerControl::interaction_enabled_ [protected]

Definition at line 254 of file interactive_marker_control.h.

int rviz::InteractiveMarkerControl::interaction_mode_ [protected]

Definition at line 179 of file interactive_marker_control.h.

Ogre::Quaternion rviz::InteractiveMarkerControl::intitial_orientation_ [protected]

Definition at line 221 of file interactive_marker_control.h.

std::vector< MarkerBasePtr > rviz::InteractiveMarkerControl::markers_ [protected]

Definition at line 200 of file interactive_marker_control.h.

Ogre::SceneNode* rviz::InteractiveMarkerControl::markers_node_ [protected]

Definition at line 176 of file interactive_marker_control.h.

std::string rviz::InteractiveMarkerControl::name_ [protected]

Definition at line 197 of file interactive_marker_control.h.

int rviz::InteractiveMarkerControl::orientation_mode_ [protected]

Definition at line 180 of file interactive_marker_control.h.

InteractiveMarker* rviz::InteractiveMarkerControl::parent_ [protected]

Definition at line 202 of file interactive_marker_control.h.

Ogre::Quaternion rviz::InteractiveMarkerControl::parent_orientation_at_mouse_down_ [protected]

The orientation of the parent when the mouse button is pressed.

Definition at line 238 of file interactive_marker_control.h.

Ogre::Vector3 rviz::InteractiveMarkerControl::parent_position_at_mouse_down_ [protected]

Definition at line 230 of file interactive_marker_control.h.

std::vector< PointsMarkerPtr > rviz::InteractiveMarkerControl::points_markers_ [protected]

Definition at line 210 of file interactive_marker_control.h.

Ogre::SceneNode* rviz::InteractiveMarkerControl::reference_node_ [protected]

Node representing reference frame in tf, like /map, /base_link, /head, etc. Same as the field in InteractiveMarker.

Definition at line 165 of file interactive_marker_control.h.

Ogre::Radian rviz::InteractiveMarkerControl::rotation_ [protected]

Stores the rotation around the x axis of the control. Only relevant for fixed-orientation rotation controls.

Definition at line 214 of file interactive_marker_control.h.

Ogre::Radian rviz::InteractiveMarkerControl::rotation_at_mouse_down_ [protected]

Stores the rotation around the x axis of the control as it was when the mouse-down event happened. Only relevant for fixed-orientation rotation controls.

Definition at line 219 of file interactive_marker_control.h.

Ogre::Vector3 rviz::InteractiveMarkerControl::rotation_axis_ [protected]

The direction vector of the axis of rotation during a mouse drag, relative to the reference frame. Computed on mouse down event.

Definition at line 243 of file interactive_marker_control.h.

Ogre::Vector3 rviz::InteractiveMarkerControl::rotation_center_rel_control_ [protected]

The center of rotation during a mouse drag, relative to the control frame. Computed on mouse down event.

Definition at line 247 of file interactive_marker_control.h.

VisualizationManager* rviz::InteractiveMarkerControl::vis_manager_ [protected]

Definition at line 159 of file interactive_marker_control.h.

bool rviz::InteractiveMarkerControl::visible_ [protected]

Definition at line 256 of file interactive_marker_control.h.

The documentation for this class was generated from the following files: