.. _program_listing_file__tmp_ws_src_octomap_octovis_include_octovis_CameraFollowMode.h:

Program Listing for File CameraFollowMode.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octovis_include_octovis_CameraFollowMode.h>` (``/tmp/ws/src/octomap/octovis/include/octovis/CameraFollowMode.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
    * Framework Based on Octrees
    * http://octomap.github.io
    *
    * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved. License for the viewer octovis: GNU GPL v2
    * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
    *
    *
    * This program is free software; you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation; either version 2 of the License, or
    * (at your option) any later version.
    *
    * This program is distributed in the hope that it will be useful, but
    * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
    * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
    * for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with this program. If not, see http://www.gnu.org/licenses/.
    */
   
   #ifndef CAMERAFOLLOWMODE_H_
   #define CAMERAFOLLOWMODE_H_
   
   #include "SceneObject.h"
   #include <QObject>
   
   class CameraFollowMode : public QObject {
     Q_OBJECT
   
   public:
     CameraFollowMode(octomap::ScanGraph *graph = NULL);
     virtual ~CameraFollowMode();
     void setScanGraph(octomap::ScanGraph *graph);
   
   public slots:
     void jumpToFrame(unsigned int frame);
     void cameraPathStopped(int id);
     void cameraPathFrameChanged(int id, int current_camera_frame);
     void play();
     void pause();
     void clearCameraPath();
     void saveToCameraPath();
     void addToCameraPath();
     void removeFromCameraPath();
     void followCameraPath();
     void followRobotPath();
   
   signals:
     void changeCamPose(const octomath::Pose6D& pose);
     void interpolateCamPose(const octomath::Pose6D& old_pose, const octomath::Pose6D& new_pose, double u);
     void stopped();
     void frameChanged(unsigned int frame);
     void deleteCameraPath(int id);
     void removeFromCameraPath(int id, int frame);
     void updateCameraPath(int id, int frame);
     void appendToCameraPath(int id, const octomath::Pose6D& pose);
     void appendCurrentToCameraPath(int id);
     void addCurrentToCameraPath(int id, int frame);
     void playCameraPath(int id, int start_frame);
     void stopCameraPath(int id);
     void jumpToCamFrame(int id, int frame);
     void changeNumberOfFrames(unsigned count);
     void scanGraphAvailable(bool available);
   
   
   protected:
     octomap::ScanGraph *m_scan_graph;
     unsigned int m_current_scan;
     unsigned int m_current_cam_frame;
     unsigned int m_number_cam_frames;
     unsigned int m_start_frame;
     bool m_followRobotTrajectory;
   };
   
   #endif /* CAMERAFOLLOWMODE_H_ */