An orbital camera, controlled by yaw, pitch, distance, and focal point. More...

#include <orbit_camera.h>

Inheritance diagram for rviz::OrbitCamera:

Public Member Functions
virtual void	fromString (const std::string &str)
	Loads the camera's configure from the supplied string (generated through toString())
float	getDistance ()
const Ogre::Vector3 &	getFocalPoint ()
virtual Ogre::Quaternion	getOrientation ()
	Get the orientation of this camera.
float	getPitch ()
virtual Ogre::Vector3	getPosition ()
	Get the position of this camera.
float	getYaw ()
virtual void	lookAt (const Ogre::Vector3 &point)
	Point the camera at the specified point.
virtual void	mouseLeftDown (int x, int y)
virtual void	mouseLeftDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
	Handle a left mouse button drag.
virtual void	mouseLeftUp (int x, int y)
virtual void	mouseMiddleDown (int x, int y)
virtual void	mouseMiddleDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
	Handle a middle mouse button drag.
virtual void	mouseMiddleUp (int x, int y)
virtual void	mouseRightDown (int x, int y)
virtual void	mouseRightDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
	Handle a right mouse button drag.
virtual void	mouseRightUp (int x, int y)
virtual void	move (float x, float y, float z)
	Move the camera relative to its orientation.
	OrbitCamera (Ogre::SceneManager *scene_manager)
virtual void	pitch (float angle)
	Pitch the camera.
virtual void	roll (float angle)
	Roll the camera.
virtual void	scrollWheel (int diff, bool ctrl, bool alt, bool shift)
	Handle a scrollwheel change.
void	setFocalPoint (const Ogre::Vector3 &focal_point)
	Set the focal point of the camera. Keeps the pitch/yaw/distance the same.
virtual void	setFrom (CameraBase *camera)
	Set the position/orientation of this camera from another camera.
virtual void	setOrientation (float x, float y, float z, float w)
	Set the orientation of the camera from a quaternion.
virtual void	setPosition (float x, float y, float z)
	Set the position of the camera.
virtual std::string	toString ()
	Returns a string representation of the camera's configuration.
virtual void	update ()
	Calculates the camera's position and orientation from the yaw, pitch, distance and focal point.
virtual void	yaw (float angle)
	Yaw the camera.
void	zoom (float amount)
	Move in/out from the focal point, ie. adjust distance_ by amount.
virtual	~OrbitCamera ()
Private Member Functions
void	calculatePitchYawFromPosition (const Ogre::Vector3 &position)
	Calculates pitch and yaw values given a new position and the current focal point.
Ogre::Vector3	getGlobalFocalPoint ()
void	normalizePitch ()
	Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down)
void	normalizeYaw ()
	Normalizes the camera's yaw in the range [0, 2*pi)
Private Attributes
float	distance_
	The camera's distance from the focal point.
Ogre::Vector3	focal_point_
	The camera's focal point.
Shape *	focal_point_object_
float	pitch_
	The camera's pitch (rotation around the x-axis), in radians.
float	yaw_
	The camera's yaw (rotation around the y-axis), in radians.

Detailed Description

An orbital camera, controlled by yaw, pitch, distance, and focal point.

This camera is based on the equation of a sphere in spherical coordinates:

 x = d*cos(theta)sin(phi)
 y = d*cos(phi)
 z = d*sin(theta)sin(phi)

Where:
d = distance_
theta = yaw_
phi = pitch_

Definition at line 62 of file orbit_camera.h.

Constructor & Destructor Documentation

rviz::OrbitCamera::OrbitCamera ( Ogre::SceneManager * scene_manager )

Definition at line 53 of file orbit_camera.cpp.

rviz::OrbitCamera::~OrbitCamera ( ) [virtual]

Definition at line 68 of file orbit_camera.cpp.

Member Function Documentation

void rviz::OrbitCamera::calculatePitchYawFromPosition ( const Ogre::Vector3 & position ) [private]

Calculates pitch and yaw values given a new position and the current focal point.

Parameters:

position Position to calculate the pitch/yaw for

Definition at line 163 of file orbit_camera.cpp.

void rviz::OrbitCamera::fromString ( const std::string & str ) [virtual]

Loads the camera's configure from the supplied string (generated through toString())

Parameters:

str	The string to load from

Implements rviz::CameraBase.

Definition at line 344 of file orbit_camera.cpp.

float rviz::OrbitCamera::getDistance ( ) [inline]

Definition at line 81 of file orbit_camera.h.

const Ogre::Vector3& rviz::OrbitCamera::getFocalPoint ( ) [inline]

Definition at line 82 of file orbit_camera.h.

Ogre::Vector3 rviz::OrbitCamera::getGlobalFocalPoint ( ) [private]

Definition at line 95 of file orbit_camera.cpp.

Ogre::Quaternion rviz::OrbitCamera::getOrientation ( ) [virtual]

Get the orientation of this camera.

Returns:: The orientation of this camera

Implements rviz::CameraBase.

Definition at line 158 of file orbit_camera.cpp.

float rviz::OrbitCamera::getPitch ( ) [inline]

Definition at line 79 of file orbit_camera.h.

Ogre::Vector3 rviz::OrbitCamera::getPosition ( ) [virtual]

Get the position of this camera.

Returns:: The position of this camera

Implements rviz::CameraBase.

Definition at line 153 of file orbit_camera.cpp.

float rviz::OrbitCamera::getYaw ( ) [inline]

Definition at line 80 of file orbit_camera.h.

void rviz::OrbitCamera::lookAt ( const Ogre::Vector3 & point ) [virtual]

Point the camera at the specified point.

Parameters:

point The point to look at

Implements rviz::CameraBase.

Definition at line 252 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftDown	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 314 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)		`[virtual]`

Handle a left mouse button drag.

Parameters:

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 272 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftUp	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 329 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleDown	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 319 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)		`[virtual]`

Handle a middle mouse button drag.

Parameters:

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 278 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleUp	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 334 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightDown	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 324 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)		`[virtual]`

Handle a right mouse button drag.

Parameters:

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 290 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightUp	(	int	x,
		int	y
	)		`[virtual]`

Reimplemented from rviz::CameraBase.

Definition at line 339 of file orbit_camera.cpp.

void rviz::OrbitCamera::move	(	float	x,
		float	y,
		float	z
	)		`[virtual]`

Move the camera relative to its orientation.

Parameters:

x	Distance to move along the X-axis
y	Distance to move along the Y-axis
z	Distance to move along the Z-axis

Implements rviz::CameraBase.

Definition at line 228 of file orbit_camera.cpp.

void rviz::OrbitCamera::normalizePitch ( ) [private]

Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down)

Definition at line 73 of file orbit_camera.cpp.

void rviz::OrbitCamera::normalizeYaw ( ) [private]

Normalizes the camera's yaw in the range [0, 2*pi)

Definition at line 85 of file orbit_camera.cpp.

void rviz::OrbitCamera::pitch ( float angle ) [virtual]

Pitch the camera.

Calls to pitch are cumulative, so: pitch(PI); pitch(PI);

is equivalent to pitch(2*PI);

Parameters:

angle Angle to pitch, in radians

Implements rviz::CameraBase.

Definition at line 140 of file orbit_camera.cpp.

void rviz::OrbitCamera::roll ( float angle ) [virtual]

Roll the camera.

Calls to roll are cumulative, so: roll(PI); roll(PI);

is equivalent to roll(2*PI);

Parameters:

angle Angle to roll, in radians

Implements rviz::CameraBase.

Definition at line 149 of file orbit_camera.cpp.

void rviz::OrbitCamera::scrollWheel	(	int	diff,
		bool	ctrl,
		bool	alt,
		bool	shift
	)		`[virtual]`

Handle a scrollwheel change.

Parameters:

diff	Number of "units" the scrollwheel has moved

Todo:: Probably need to pass in how many units there are in a "click" of the wheel

Implements rviz::CameraBase.

Definition at line 302 of file orbit_camera.cpp.

void rviz::OrbitCamera::setFocalPoint ( const Ogre::Vector3 & focal_point )

Set the focal point of the camera. Keeps the pitch/yaw/distance the same.

Parameters:

focal_point The new focal point

Definition at line 221 of file orbit_camera.cpp.

void rviz::OrbitCamera::setFrom ( CameraBase * camera ) [virtual]

Set the position/orientation of this camera from another camera.

Parameters:

camera The camera to set from

Implements rviz::CameraBase.

Definition at line 183 of file orbit_camera.cpp.

void rviz::OrbitCamera::setOrientation	(	float	x,
		float	y,
		float	z,
		float	w
	)		`[virtual]`

Set the orientation of the camera from a quaternion.

Implements rviz::CameraBase.

Definition at line 196 of file orbit_camera.cpp.

void rviz::OrbitCamera::setPosition	(	float	x,
		float	y,
		float	z
	)		`[virtual]`

Set the position of the camera.

Implements rviz::CameraBase.

Definition at line 242 of file orbit_camera.cpp.

std::string rviz::OrbitCamera::toString ( ) [virtual]

Returns a string representation of the camera's configuration.

Implements rviz::CameraBase.

Definition at line 363 of file orbit_camera.cpp.

void rviz::OrbitCamera::update ( ) [virtual]

Calculates the camera's position and orientation from the yaw, pitch, distance and focal point.

Implements rviz::CameraBase.

Definition at line 107 of file orbit_camera.cpp.

void rviz::OrbitCamera::yaw ( float angle ) [virtual]

Yaw the camera.

Calls to yaw are cumulative, so: yaw(PI); yaw(PI);

is equivalent to yaw(2*PI);

Parameters:

angle Angle to yaw, in radians

Implements rviz::CameraBase.

Definition at line 131 of file orbit_camera.cpp.

void rviz::OrbitCamera::zoom ( float amount )

Move in/out from the focal point, ie. adjust distance_ by amount.

Parameters:

amount The distance to move. Positive amount moves towards the focal point, negative moves away

Definition at line 209 of file orbit_camera.cpp.

Member Data Documentation

float rviz::OrbitCamera::distance_ [private]

The camera's distance from the focal point.

Definition at line 138 of file orbit_camera.h.

Ogre::Vector3 rviz::OrbitCamera::focal_point_ [private]

The camera's focal point.

Definition at line 135 of file orbit_camera.h.

Shape* rviz::OrbitCamera::focal_point_object_ [private]

Definition at line 140 of file orbit_camera.h.

float rviz::OrbitCamera::pitch_ [private]

The camera's pitch (rotation around the x-axis), in radians.

Definition at line 137 of file orbit_camera.h.

float rviz::OrbitCamera::yaw_ [private]

The camera's yaw (rotation around the y-axis), in radians.

Definition at line 136 of file orbit_camera.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation