00001 /* 00002 * Copyright (c) 2008, 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 * measure_tool.cpp 00031 * 00032 * Created on: Aug 8, 2012 00033 * Author: gossow 00034 */ 00035 00036 #include "measure_tool.h" 00037 00038 #include "rviz/ogre_helpers/line.h" 00039 #include "rviz/viewport_mouse_event.h" 00040 #include "rviz/display_context.h" 00041 #include "rviz/selection/selection_manager.h" 00042 #include "rviz/load_resource.h" 00043 00044 #include <OgreSceneNode.h> 00045 00046 #include <sstream> 00047 00048 namespace rviz 00049 { 00050 00051 MeasureTool::MeasureTool() : 00052 state_(START), 00053 length_(-1) 00054 { 00055 } 00056 00057 MeasureTool::~MeasureTool() 00058 { 00059 delete line_; 00060 } 00061 00062 void MeasureTool::onInitialize() 00063 { 00064 line_ = new Line(context_->getSceneManager()); 00065 00066 std_cursor_ = getDefaultCursor(); 00067 hit_cursor_ = makeIconCursor( "package://rviz/icons/crosshair.svg" ); 00068 } 00069 00070 void MeasureTool::activate() 00071 { 00072 state_ = START; 00073 } 00074 00075 void MeasureTool::deactivate() 00076 { 00077 } 00078 00079 int MeasureTool::processMouseEvent( ViewportMouseEvent& event ) 00080 { 00081 int flags = 0; 00082 00083 Ogre::Vector3 pos; 00084 00085 std::stringstream ss; 00086 00087 bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos ); 00088 setCursor( success ? hit_cursor_ : std_cursor_ ); 00089 00090 switch ( state_ ) 00091 { 00092 case START: 00093 break; 00094 case END: 00095 if ( success ) 00096 { 00097 line_->setPoints(start_,pos); 00098 length_ = (start_-pos).length(); 00099 } 00100 break; 00101 } 00102 00103 if ( length_ > 0.0 ) 00104 { 00105 ss << "[Length: " << length_ << "m] "; 00106 } 00107 00108 ss << "Click on two points to measure their distance. Right-click to reset."; 00109 setStatus( QString( ss.str().c_str() ) ); 00110 00111 if( event.leftUp() && success ) 00112 { 00113 switch ( state_ ) 00114 { 00115 case START: 00116 start_ = pos; 00117 state_ = END; 00118 break; 00119 case END: 00120 end_ = pos; 00121 state_ = START; 00122 line_->setPoints(start_,end_); 00123 break; 00124 } 00125 00126 flags |= Render; 00127 } 00128 00129 if ( event.rightUp() ) 00130 { 00131 state_ = START; 00132 line_->setVisible(false); 00133 } 00134 00135 return flags; 00136 } 00137 00138 } /* namespace rviz */ 00139 00140 00141 #include <pluginlib/class_list_macros.h> 00142 PLUGINLIB_EXPORT_CLASS( rviz::MeasureTool, rviz::Tool )