fps_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_FPS_VIEW_CONTROLLER_H
00031 #define RVIZ_FPS_VIEW_CONTROLLER_H
00032 
00033 #include "rviz/view_controller.h"
00034 
00035 #include <OGRE/OgreVector3.h>
00036 #include <OGRE/OgreQuaternion.h>
00037 
00038 namespace ogre_tools
00039 {
00040 class Shape;
00041 class SceneNode;
00042 }
00043 
00044 namespace rviz
00045 {
00046 
00051 class FPSViewController : public ViewController
00052 {
00053 public:
00054   FPSViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node);
00055   virtual ~FPSViewController();
00056 
00057 
00058   void yaw( float angle );
00059   void pitch( float angle );
00060   void move( float x, float y, float z );
00061 
00062   virtual void handleMouseEvent(ViewportMouseEvent& evt);
00063   virtual void fromString(const std::string& str);
00064   virtual std::string toString();
00065 
00066   virtual void lookAt( const Ogre::Vector3& point );
00067 
00068   static std::string getClassNameStatic() { return "rviz::FPSViewController"; }
00069   virtual std::string getClassName() { return getClassNameStatic(); }
00070 
00071 
00072 protected:
00073   virtual void onActivate();
00074   virtual void onDeactivate();
00075   virtual void onUpdate(float dt, float ros_dt);
00076   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation);
00077 
00078   void setYawPitchFromCamera();
00079 
00083   void normalizePitch();
00087   void normalizeYaw();
00088 
00089   void updateCamera();
00090 
00091   float yaw_;                         
00092   float pitch_;                       
00093 };
00094 
00095 }
00096 
00097 #endif // RVIZ_VIEW_CONTROLLER_H


rviz_qt
Author(s): Dave Hershberger
autogenerated on Fri Dec 6 2013 20:56:52