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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 #include "view_controller.h" 00031 #include "viewport_mouse_event.h" 00032 #include "visualization_manager.h" 00033 #include "frame_manager.h" 00034 00035 #include <OGRE/OgreCamera.h> 00036 #include <OGRE/OgreSceneNode.h> 00037 #include <OGRE/OgreSceneManager.h> 00038 00039 namespace rviz 00040 { 00041 00042 ViewController::ViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node) 00043 : manager_(manager) 00044 , camera_(0) 00045 , target_scene_node_(target_scene_node) 00046 , name_(name) 00047 { 00048 } 00049 00050 ViewController::~ViewController() 00051 { 00052 // manager_->getSceneManager()->destroySceneNode(target_scene_node_); 00053 } 00054 00055 void ViewController::activate(Ogre::Camera* camera, const std::string& reference_frame) 00056 { 00057 camera_ = camera; 00058 reference_frame_ = reference_frame; 00059 updateTargetSceneNode(); 00060 target_scene_node_->attachObject(camera_); 00061 00062 onActivate(); 00063 } 00064 00065 void ViewController::deactivate() 00066 { 00067 onDeactivate(); 00068 00069 target_scene_node_->detachObject(camera_); 00070 camera_ = 0; 00071 } 00072 00073 void ViewController::update(float dt, float ros_dt) 00074 { 00075 updateTargetSceneNode(); 00076 onUpdate(dt, ros_dt); 00077 } 00078 00079 void ViewController::setTargetFrame(const std::string& reference_frame) 00080 { 00081 reference_frame_ = reference_frame; 00082 00083 Ogre::Vector3 position; 00084 Ogre::Quaternion orientation; 00085 FrameManager::instance()->getTransform(reference_frame_, ros::Time(), position, orientation); 00086 00087 reference_position_ = position; 00088 reference_orientation_ = orientation; 00089 } 00090 00091 void ViewController::resetTargetSceneNodePosition() 00092 { 00093 Ogre::Vector3 new_reference_position; 00094 Ogre::Quaternion new_reference_orientation; 00095 if (FrameManager::instance()->getTransform(reference_frame_, ros::Time(), new_reference_position, new_reference_orientation) ) 00096 { 00097 target_scene_node_->setPosition( new_reference_position ); 00098 } 00099 } 00100 00101 void ViewController::updateTargetSceneNode() 00102 { 00103 Ogre::Vector3 new_reference_position; 00104 Ogre::Quaternion new_reference_orientation; 00105 00106 if (FrameManager::instance()->getTransform(reference_frame_, ros::Time(), new_reference_position, new_reference_orientation) ) 00107 { 00108 Ogre::Vector3 delta_position = new_reference_position - reference_position_; 00109 target_scene_node_->translate( delta_position ); 00110 00111 reference_position_ = new_reference_position; 00112 reference_orientation_ = new_reference_orientation; 00113 00114 manager_->queueRender(); 00115 } 00116 } 00117 00118 }