tablet_view_controller.h

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/*
 * Copyright (c) 2012, JSK Lab, 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 JSK Lab, 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.
 *
 * Author: Adam Leeper
 * Author: Ryohei Ueda
 */

#ifndef JSK_RVIZ_PLUGINS_TABLET_VIEW_CONTROLLER_H_
#define JSK_RVIZ_PLUGINS_TABLET_VIEW_CONTROLLER_H_

#include "rviz/view_controller.h"

#include <ros/subscriber.h>
#include <ros/ros.h>

#include "view_controller_msgs/CameraPlacement.h"

#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>

namespace rviz {
  class SceneNode;
  class Shape;
  class BoolProperty;
  class FloatProperty;
  class VectorProperty;
  class QuaternionProperty;
  class TfFrameProperty;
  class EditableEnumProperty;
  class RosTopicProperty;
}

namespace jsk_rviz_plugins
{

class TabletViewController : public rviz::ViewController
{
Q_OBJECT
public:

  enum { TRANSITION_LINEAR = 0,
         TRANSITION_SPHERICAL};

  TabletViewController();
  virtual ~TabletViewController();

  virtual void onInitialize();

  virtual void onActivate();


  void move_focus_and_eye( float x, float y, float z );

  void move_eye( float x, float y, float z );


  void yaw_pitch_roll( float yaw, float pitch, float roll );


  virtual void handleMouseEvent(rviz::ViewportMouseEvent& evt);


  virtual void lookAt( const Ogre::Vector3& point );


  void orbitCameraTo( const Ogre::Vector3& point);

  void moveEyeWithFocusTo( const Ogre::Vector3& point);

  virtual void reset();

  virtual void mimic( ViewController* source_view );

  virtual void transitionFrom( ViewController* previous_view );


protected Q_SLOTS:
  virtual void updateAttachedFrame();
  
  virtual void onDistancePropertyChanged();

  virtual void onFocusPropertyChanged();
  
  virtual void onEyePropertyChanged();

  virtual void onUpPropertyChanged();

protected:  //methods

  virtual void update(float dt, float ros_dt);

  void connectPositionProperties();

  void disconnectPositionProperties();

  virtual void onAttachedFrameChanged( const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation );

  void updateAttachedSceneNode();

  void cameraPlacementCallback(const view_controller_msgs::CameraPlacementConstPtr &cp_ptr);
  //void cameraPlacementTrajectoryCallback(const view_controller_msgs::CameraPlacementTrajectoryConstPtr &cptptr);
  void transformCameraPlacementToAttachedFrame(view_controller_msgs::CameraPlacement &cp);

  //void setUpVectorPropertyModeDependent( const Ogre::Vector3 &vector );

  void setPropertiesFromCamera( Ogre::Camera* source_camera );

  void beginNewTransition(const Ogre::Vector3 &eye, const Ogre::Vector3 &focus, const Ogre::Vector3 &up,
                          const ros::Duration &transition_time);

  void cancelTransition();

  void updateCamera();

  Ogre::Vector3 fixedFrameToAttachedLocal(const Ogre::Vector3 &v) { return reference_orientation_.Inverse()*(v - reference_position_); }
  Ogre::Vector3 attachedLocalToFixedFrame(const Ogre::Vector3 &v) { return reference_position_ + (reference_orientation_*v); }

  float getDistanceFromCameraToFocalPoint(); 

  void publishCurrentPlacement();
  void publishMouseEvent(rviz::ViewportMouseEvent& event);
  Ogre::Quaternion getOrientation(); 

protected Q_SLOTS:
  void updateTopics();
  void updatePublishTopics();
  void updateMousePointPublishTopics();
protected:    //members

  ros::NodeHandle nh_;

  rviz::BoolProperty* mouse_enabled_property_;            
  rviz::EditableEnumProperty* interaction_mode_property_; 
  rviz::BoolProperty* fixed_up_property_;                 

  rviz::FloatProperty* distance_property_;                
  rviz::VectorProperty* eye_point_property_;              
  rviz::VectorProperty* focus_point_property_;            
  rviz::VectorProperty* up_vector_property_;              
  rviz::FloatProperty* default_transition_time_property_; 

  rviz::RosTopicProperty* camera_placement_topic_property_;
  rviz::RosTopicProperty* camera_placement_publish_topic_property_;
  rviz::RosTopicProperty* mouse_point_publish_topic_property_;
//  rviz::RosTopicProperty* camera_placement_trajectory_topic_property_;

  rviz::TfFrameProperty* attached_frame_property_;
  Ogre::SceneNode* attached_scene_node_;

  Ogre::Quaternion reference_orientation_;    
  Ogre::Vector3 reference_position_;          

  // Variables used during animation
  bool animate_;
  Ogre::Vector3 start_position_, goal_position_;
  Ogre::Vector3 start_focus_, goal_focus_;
  Ogre::Vector3 start_up_, goal_up_;
  ros::Time trajectory_start_time_;
  ros::Time transition_start_time_;
  ros::Duration current_transition_duration_;

  rviz::Shape* focal_shape_;    
  bool dragging_;         

  QCursor interaction_disabled_cursor_;         
  
//  ros::Subscriber trajectory_subscriber_;
  ros::Subscriber placement_subscriber_;

  ros::Publisher placement_publisher_;
  
  ros::Publisher mouse_point_publisher_;
};

}  // namespace rviz_animated_view_controller

#endif // RVIZ_ANIMATED_VIEW_CONTROLLER_H