camera.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVIZ_ROS_CLIENT_CAMERA_H
#define RVIZ_ROS_CLIENT_CAMERA_H

#include "single_scene_object.h"
#include <rve_msgs/make_vector3.h>
#include <rve_msgs/make_quaternion.h>
#include <rve_msgs/Matrix4.h>

#include <rve_common/uuid.h>
#include <rve_render_client/forwards.h>

namespace rve_interfaces
{
class CameraProxy;
}

namespace rve_render_client
{

class Camera : public SingleSceneObject
{
public:
  virtual void doCreate(ContextInfo& info);
  virtual void doDestroy(ContextInfo& info);
  virtual void getContextDependencies(V_UUID& deps) {}
  rve_interfaces::CameraProxy* getProxy(const ContextInfo& info);

  void setPosition(const rve_msgs::Vector3& pos);

  void setOrientation(const rve_msgs::Quaternion& orient);

  void lookAt(const rve_msgs::Vector3& point);

  void setDirection(const rve_msgs::Vector3& dir);
  void move(const rve_msgs::Vector3& v);
  void moveRelative(const rve_msgs::Vector3& v);
  void rotate(const rve_msgs::Quaternion& q);

  void setTransform(const rve_msgs::Vector3& pos, const rve_msgs::Quaternion& orient);

  void setAspectRatio( float width_over_height );

  void setProjectionMatrixFactory( const ProjectionMatrixFactoryPtr& factory );
  const ProjectionMatrixFactoryPtr& getProjectionMatrixFactory() const { return projection_matrix_factory_; }

  Scene* getScene() { return scene_; }

  template<typename T>
  void setPosition(T t)
  {
    setPosition(rve_msgs::makeVector3(t));
  }

  template<typename T>
  void setOrientation(T t)
  {
    setOrientation(rve_msgs::makeQuaternion(t));
  }

  template<typename T>
  void lookAt(T t)
  {
    lookAt(rve_msgs::makeVector3(t));
  }

  template<typename T>
  void move(T t)
  {
    move(rve_msgs::makeVector3(t));
  }

  template<typename T>
  void moveRelative(T t)
  {
    moveRelative(rve_msgs::makeVector3(t));
  }

  template<typename T>
  void rotate(T t)
  {
    rotate(rve_msgs::makeQuaternion(t));
  }

  template<typename T>
  void rotateRelative(T t)
  {
    rotateRelative(rve_msgs::makeQuaternion(t));
  }

  template <typename V, typename Q>
  void setTransform(V v, Q q)
  {
    setTransform(rve_msgs::makeVector3(v), rve_msgs::makeQuaternion(q));
  }

  const rve_msgs::Vector3& getPosition() { return position_; }
  const rve_msgs::Quaternion& getOrientation() { return orientation_; }
  const rve_msgs::Matrix4& getProjectionMatrix() { return projection_matrix_; }

private:

  Camera();
  ~Camera();

  void setProjectionMatrix(const rve_msgs::Matrix4& matrix);

  friend class ProjectionMatrixFactory;

  rve_msgs::Vector3 position_;
  rve_msgs::Quaternion orientation_;
  rve_msgs::Matrix4 projection_matrix_;
  uint32_t proxy_index_;

  Scene* scene_;  // A camera can only actually be attached to a single scene

  friend CameraPtr createCamera(Scene*);

  ProjectionMatrixFactoryPtr projection_matrix_factory_;

  float aspect_ratio_;
};

CameraPtr createCamera(Scene* scene);

} // namespace rve_render_client

#endif // RVIZ_ROS_CLIENT_CAMERA_H