frame_relative_camera_controller.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FRAME_RELATIVE_CAMERA_CONTROLLER_H
#define FRAME_RELATIVE_CAMERA_CONTROLLER_H

#include <string>
#include <rve_common/eigen_conversions.h>

#include <rve_transformer/camera_transformer.h>

namespace rve_common_transformers
{

class FrameRelativeCameraController: public rve_transformer::CameraTransformer
{
public:
  FrameRelativeCameraController();
  virtual ~FrameRelativeCameraController() {}

  virtual void setReferenceFrame( const std::string& frame_id );
  const std::string& getReferenceFrame() const { return reference_frame_id_; }

  virtual void setRelativePosition( const Eigen::Vector3f& pos ) { relative_position_ = pos; }
  virtual const Eigen::Vector3f& getRelativePosition() const { return relative_position_; }

  virtual void setRelativeOrientation( const Eigen::Quaternionf& orient ) { relative_orientation_ = orient; }
  virtual const Eigen::Quaternionf& getRelativeOrientation() const { return relative_orientation_; }

  virtual const Eigen::Vector3f& getAbsolutePosition() const { return absolute_position_; }
  virtual const Eigen::Quaternionf& getAbsoluteOrientation() const { return absolute_orientation_; }

protected:
  virtual void updateRelativePose() {}

  virtual void onInit();

  virtual void onUpdate();

  virtual void onCameraSet();

private:
  std::string reference_frame_id_;

  Eigen::Vector3f relative_position_;
  Eigen::Quaternionf relative_orientation_;

  Eigen::Vector3f absolute_position_;
  Eigen::Quaternionf absolute_orientation_;
};
typedef boost::shared_ptr<FrameRelativeCameraController> FrameRelativeCameraControllerPtr;

}
#endif // FRAME_RELATIVE_CAMERA_CONTROLLER_H