Program Listing for File fixed_orientation_ortho_view_controller.hpp

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/*
 * Copyright (c) 2012, 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORTHO__FIXED_ORIENTATION_ORTHO_VIEW_CONTROLLER_HPP_
#define RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORTHO__FIXED_ORIENTATION_ORTHO_VIEW_CONTROLLER_HPP_

#include <utility>

#include <OgreQuaternion.h>

#include "rviz_common/frame_position_tracking_view_controller.hpp"
#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_rendering
{
class Shape;
}

namespace rviz_common
{
class ViewportMouseEvent;
namespace properties
{
class FloatProperty;
}
}

namespace Ogre
{
class SceneNode;
}

namespace rviz_default_plugins
{
namespace view_controllers
{

class RVIZ_DEFAULT_PLUGINS_PUBLIC FixedOrientationOrthoViewController : public
  rviz_common::FramePositionTrackingViewController
{
  Q_OBJECT

public:
  FixedOrientationOrthoViewController();
  ~FixedOrientationOrthoViewController() override = default;

  void onInitialize() override;

  void handleMouseEvent(rviz_common::ViewportMouseEvent & evt) override;

  void lookAt(const Ogre::Vector3 & point_rel_world) override;

  void reset() override;

  void mimic(ViewController * source_view) override;

  void move(float x, float y);

  void update(float dt, float ros_dt) override;

protected:
  void onTargetFrameChanged(
    const Ogre::Vector3 & old_reference_position,
    const Ogre::Quaternion & old_reference_orientation) override;

  void orientCamera();

  void setPosition(const Ogre::Vector3 & pos_rel_target);
  void updateCamera();
  Ogre::SceneNode * getCameraParent(Ogre::Camera * camera);
  void renderOnMove();

  rviz_common::properties::FloatProperty * scale_property_;
  rviz_common::properties::FloatProperty * angle_property_;
  rviz_common::properties::FloatProperty * x_property_;
  rviz_common::properties::FloatProperty * y_property_;
  bool dragging_;
};

}  // namespace view_controllers
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORTHO__FIXED_ORIENTATION_ORTHO_VIEW_CONTROLLER_HPP_  // NOLINT