00001 /* 00002 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 00003 * http://octomap.github.com/ 00004 * 00005 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 00006 * All rights reserved. 00007 * License (octovis): GNU GPL v2 00008 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt 00009 * 00010 * 00011 * This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, but 00017 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 00018 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 00019 * for more details. 00020 * 00021 * You should have received a copy of the GNU General Public License along 00022 * with this program; if not, write to the Free Software Foundation, Inc., 00023 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00024 */ 00025 00026 #ifndef CAMERAFOLLOWMODE_H_ 00027 #define CAMERAFOLLOWMODE_H_ 00028 00029 #include "SceneObject.h" 00030 00031 class CameraFollowMode : public QObject { 00032 Q_OBJECT 00033 00034 public: 00035 CameraFollowMode(octomap::ScanGraph *graph = NULL); 00036 virtual ~CameraFollowMode(); 00037 void setScanGraph(octomap::ScanGraph *graph); 00038 00039 public slots: 00040 void jumpToFrame(unsigned int frame); 00041 void cameraPathStopped(int id); 00042 void cameraPathFrameChanged(int id, int current_camera_frame); 00043 void play(); 00044 void pause(); 00045 void clearCameraPath(); 00046 void saveToCameraPath(); 00047 void addToCameraPath(); 00048 void removeFromCameraPath(); 00049 void followCameraPath(); 00050 void followRobotPath(); 00051 00052 signals: 00053 void changeCamPose(const octomath::Pose6D& pose); 00054 void interpolateCamPose(const octomath::Pose6D& old_pose, const octomath::Pose6D& new_pose, double u); 00055 void stopped(); 00056 void frameChanged(unsigned int frame); 00057 void deleteCameraPath(int id); 00058 void removeFromCameraPath(int id, int frame); 00059 void updateCameraPath(int id, int frame); 00060 void appendToCameraPath(int id, const octomath::Pose6D& pose); 00061 void appendCurrentToCameraPath(int id); 00062 void addCurrentToCameraPath(int id, int frame); 00063 void playCameraPath(int id, int start_frame); 00064 void stopCameraPath(int id); 00065 void jumpToCamFrame(int id, int frame); 00066 void changeNumberOfFrames(unsigned count); 00067 void scanGraphAvailable(bool available); 00068 00069 00070 protected: 00071 octomap::ScanGraph *m_scan_graph; 00072 unsigned int m_current_scan; 00073 unsigned int m_current_cam_frame; 00074 unsigned int m_number_cam_frames; 00075 unsigned int m_start_frame; 00076 bool m_followRobotTrajectory; 00077 }; 00078 00079 #endif /* CAMERAFOLLOWMODE_H_ */