view_controller.h
Go to the documentation of this 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 #include <OGRE/OgreQuaternion.h> 00036 #include <OGRE/OgreVector3.h> 00037 00038 namespace Ogre 00039 { 00040 class Camera; 00041 class SceneNode; 00042 class Vector3; 00043 class Quaternion; 00044 } 00045 00046 namespace rviz 00047 { 00048 00049 class VisualizationManager; 00050 class ViewportMouseEvent; 00051 00052 class ViewController 00053 { 00054 public: 00055 ViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node); 00056 virtual ~ViewController(); 00057 00058 void activate(Ogre::Camera* camera, const std::string& reference_frame); 00059 void deactivate(); 00060 void update(float dt, float ros_dt); 00061 void setTargetFrame(const std::string& reference_frame); 00062 const std::string& getName() { return name_; } 00063 00064 virtual void handleMouseEvent(ViewportMouseEvent& evt) {} 00065 virtual void fromString(const std::string& str) = 0; 00066 virtual std::string toString() = 0; 00067 virtual void lookAt( const Ogre::Vector3& point ) = 0; 00068 virtual std::string getClassName() = 0; 00069 00070 protected: 00071 virtual void onActivate() = 0; 00072 virtual void onDeactivate() = 0; 00073 virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation) = 0; 00074 virtual void onUpdate(float dt, float ros_dt) {} 00075 00076 void updateTargetSceneNode(); 00077 00079 void resetTargetSceneNodePosition(); 00080 00081 VisualizationManager* manager_; 00082 Ogre::Camera* camera_; 00083 std::string reference_frame_; 00084 Ogre::SceneNode* target_scene_node_; 00085 00086 Ogre::Quaternion global_orientation_; 00087 00088 std::string name_; 00089 00090 Ogre::Quaternion reference_orientation_; 00091 Ogre::Vector3 reference_position_; 00092 }; 00093 00094 } 00095 00096 #endif // RVIZ_VIEW_CONTROLLER_H