frame_position_tracking_view_controller.cpp
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00001 /*
00002  * Copyright (c) 2012, 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 #include <OgreCamera.h>
00031 #include <OgreSceneManager.h>
00032 #include <OgreSceneNode.h>
00033 
00034 #include "rviz/display_context.h"
00035 #include "rviz/frame_manager.h"
00036 #include "rviz/properties/enum_property.h"
00037 #include "rviz/properties/tf_frame_property.h"
00038 #include "rviz/viewport_mouse_event.h"
00039 #include "rviz/view_manager.h"
00040 
00041 #include "rviz/frame_position_tracking_view_controller.h"
00042 
00043 namespace rviz
00044 {
00045 
00046 FramePositionTrackingViewController::FramePositionTrackingViewController()
00047   : target_scene_node_( NULL )
00048 {
00049   target_frame_property_ = new TfFrameProperty( "Target Frame", TfFrameProperty::FIXED_FRAME_STRING,
00050                                                 "TF frame whose motion this view will follow.", this, NULL, true );
00051 }
00052 
00053 void FramePositionTrackingViewController::onInitialize()
00054 {
00055   target_frame_property_->setFrameManager( context_->getFrameManager() );
00056 
00057   target_scene_node_ = context_->getSceneManager()->getRootSceneNode()->createChildSceneNode();
00058   camera_->detachFromParent();
00059   target_scene_node_->attachObject( camera_ );
00060 }
00061 
00062 FramePositionTrackingViewController::~FramePositionTrackingViewController()
00063 {
00064   context_->getSceneManager()->destroySceneNode( target_scene_node_ );
00065 }
00066 
00067 void FramePositionTrackingViewController::onActivate()
00068 {
00069   updateTargetSceneNode();
00070 
00071   // Before activation, changes to target frame property should have
00072   // no side-effects.  After activation, changing target frame
00073   // property has the side effect (typically) of changing an offset
00074   // property so that the view does not jump.  Therefore we make the
00075   // signal/slot connection from the property here in onActivate()
00076   // instead of in the constructor.
00077   connect( target_frame_property_, SIGNAL( changed() ), this, SLOT( updateTargetFrame() ));
00078 }
00079 
00080 void FramePositionTrackingViewController::update(float dt, float ros_dt)
00081 {
00082   updateTargetSceneNode();
00083 }
00084 
00085 void FramePositionTrackingViewController::updateTargetFrame()
00086 {
00087   Ogre::Vector3 old_position = target_scene_node_->getPosition();
00088   Ogre::Quaternion old_orientation = target_scene_node_->getOrientation();
00089 
00090   updateTargetSceneNode();
00091   
00092   onTargetFrameChanged( old_position, old_orientation );
00093 }
00094 
00095 void FramePositionTrackingViewController::updateTargetSceneNode()
00096 {
00097   Ogre::Vector3 new_reference_position;
00098   Ogre::Quaternion new_reference_orientation;
00099 
00100   if( context_->getFrameManager()->getTransform( target_frame_property_->getFrameStd(), ros::Time(),
00101                                                  new_reference_position, new_reference_orientation ))
00102   {
00103     target_scene_node_->setPosition( new_reference_position );
00104 
00105     reference_position_ = new_reference_position;
00106     reference_orientation_ = new_reference_orientation;
00107 
00108     context_->queueRender();
00109   }
00110 
00111 // Need to incorporate this functionality somehow....  Maybe right into TfFrameProperty itself.
00122 }
00123 
00124 void FramePositionTrackingViewController::mimic( ViewController* source_view )
00125 {
00126   QVariant target_frame = source_view->subProp( "Target Frame" )->getValue();
00127   if( target_frame.isValid() )
00128   {
00129     target_frame_property_->setValue( target_frame );
00130   }
00131 }
00132 
00133 } // end namespace rviz


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27