xy_orbit_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_SIMPLE_ORBIT_VIEW_CONTROLLER_H 00031 #define RVIZ_SIMPLE_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 00049 class XYOrbitViewController : public ViewController 00050 { 00051 public: 00052 00053 XYOrbitViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node); 00054 virtual ~XYOrbitViewController(); 00055 00060 void zoom( float amount ); 00061 void yaw( float angle ); 00062 void pitch( float angle ); 00063 00064 virtual void handleMouseEvent(ViewportMouseEvent& evt); 00065 virtual void fromString(const std::string& str); 00066 virtual std::string toString(); 00067 00068 virtual void lookAt( const Ogre::Vector3& point ); 00069 00070 static std::string getClassNameStatic() { return "rviz::XYOrbitViewController"; } 00071 virtual std::string getClassName() { return getClassNameStatic(); } 00072 00073 protected: 00074 virtual void onActivate(); 00075 virtual void onDeactivate(); 00076 virtual void onUpdate(float dt, float ros_dt); 00077 virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation); 00078 00083 void calculatePitchYawFromPosition( const Ogre::Vector3& position ); 00087 void normalizePitch(); 00091 void normalizeYaw(); 00092 00093 void updateCamera(); 00094 00095 bool intersectGroundPlane( Ogre::Ray mouse_ray, Ogre::Vector3 &intersection_3d ); 00096 00097 Ogre::Vector3 focal_point_; 00098 float yaw_; 00099 float pitch_; 00100 float distance_; 00101 ogre_tools::Shape* focal_shape_; 00102 }; 00103 00104 } 00105 00106 #endif // RVIZ_VIEW_CONTROLLER_H