rviz: rviz: orbit_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_ORBIT_VIEW_CONTROLLER_H
00031 #define RVIZ_ORBIT_VIEW_CONTROLLER_H
00032 
00033 #include "rviz/view_controller.h"
00034 
00035 #include <OGRE/OgreVector3.h>
00036 
00037 namespace ogre_tools
00038 {
00039 class Shape;
00040 class SceneNode;
00041 }
00042 
00043 namespace rviz
00044 {
00045 
00060 class OrbitViewController : public ViewController
00061 {
00062 public:
00063   OrbitViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node);
00064   virtual ~OrbitViewController();
00065 
00070   void zoom( float amount );
00071   void yaw( float angle );
00072   void pitch( float angle );
00073   void move( float x, float y, float z );
00074 
00075   virtual void handleMouseEvent(ViewportMouseEvent& evt);
00076   virtual void fromString(const std::string& str);
00077   virtual std::string toString();
00078 
00079   virtual void lookAt( const Ogre::Vector3& point );
00080 
00081   static std::string getClassNameStatic() { return "rviz::OrbitViewController"; }
00082   virtual std::string getClassName() { return getClassNameStatic(); }
00083 
00084 
00085 protected:
00086   virtual void onActivate();
00087   virtual void onDeactivate();
00088   virtual void onUpdate(float dt, float ros_dt);
00089   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation);
00090 
00095   void calculatePitchYawFromPosition( const Ogre::Vector3& position );
00099   void normalizePitch();
00103   void normalizeYaw();
00104 
00105   void updateCamera();
00106 
00107   Ogre::Vector3 focal_point_;         
00108   float yaw_;                         
00109   float pitch_;                       
00110   float distance_;                    
00111   ogre_tools::Shape* focal_shape_;
00112 };
00113 
00114 }
00115 
00116 #endif // RVIZ_VIEW_CONTROLLER_H