view_controller.h
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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 <QObject>
00034 
00035 #include <string>
00036 
00037 #include <OGRE/OgreQuaternion.h>
00038 #include <OGRE/OgreVector3.h>
00039 
00040 namespace Ogre
00041 {
00042 class Camera;
00043 class SceneNode;
00044 class Vector3;
00045 class Quaternion;
00046 }
00047 
00048 namespace rviz
00049 {
00050 
00051 class VisualizationManager;
00052 class ViewportMouseEvent;
00053 
00054 class ViewController: public QObject
00055 {
00056 Q_OBJECT
00057 public:
00058   ViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node);
00059   virtual ~ViewController();
00060 
00061   void activate(Ogre::Camera* camera, const std::string& reference_frame);
00062   void deactivate();
00063   void update(float dt, float ros_dt);
00064   void setTargetFrame(const std::string& reference_frame);
00065   const std::string& getName() { return name_; }
00066 
00067   virtual void handleMouseEvent(ViewportMouseEvent& evt) {}
00068 
00070   virtual void fromString(const std::string& str) = 0;
00071 
00073   virtual std::string toString() = 0;
00074 
00075   virtual void lookAt( const Ogre::Vector3& point ) = 0;
00076   virtual std::string getClassName() = 0;
00077 
00080   virtual void reset() = 0;
00081 
00083   void emitConfigChanged();
00084 
00085 Q_SIGNALS:
00086   void configChanged();
00087 
00088 protected:
00089   virtual void onActivate() = 0;
00090   virtual void onDeactivate() = 0;
00091   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation) = 0;
00092   virtual void onUpdate(float dt, float ros_dt) {}
00093 
00094   void updateTargetSceneNode();
00095 
00096   VisualizationManager* manager_;
00097   Ogre::Camera* camera_;
00098   std::string reference_frame_;
00099   Ogre::SceneNode* target_scene_node_;
00100 
00101   Ogre::Quaternion global_orientation_;
00102 
00103   std::string name_;
00104 
00105   Ogre::Quaternion reference_orientation_;
00106   Ogre::Vector3 reference_position_;
00107 };
00108 
00109 }
00110 
00111 #endif // RVIZ_VIEW_CONTROLLER_H


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:33