00001 /* 00002 * Copyright (c) 2009, 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 #ifndef RVIZ_ORBIT_VIEW_CONTROLLER_H 00031 #define RVIZ_ORBIT_VIEW_CONTROLLER_H 00032 00033 #include <OgreVector3.h> 00034 00035 #include <QCursor> 00036 00037 #include "rviz/frame_position_tracking_view_controller.h" 00038 00039 namespace rviz 00040 { 00041 class FloatProperty; 00042 class Shape; 00043 class SceneNode; 00044 class VectorProperty; 00045 00060 class OrbitViewController: public FramePositionTrackingViewController 00061 { 00062 Q_OBJECT 00063 public: 00064 OrbitViewController(); 00065 virtual ~OrbitViewController(); 00066 00070 virtual void onInitialize(); 00071 00076 void zoom( float amount ); 00077 void yaw( float angle ); 00078 void pitch( float angle ); 00079 void move( float x, float y, float z ); 00080 00081 virtual void handleMouseEvent(ViewportMouseEvent& evt); 00082 00083 virtual void lookAt( const Ogre::Vector3& point ); 00084 00085 virtual void reset(); 00086 00092 virtual void mimic( ViewController* source_view ); 00093 00094 protected: 00095 virtual void update(float dt, float ros_dt); 00096 virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation); 00097 00102 void calculatePitchYawFromPosition( const Ogre::Vector3& position ); 00103 00104 virtual void updateCamera(); 00105 00106 FloatProperty* yaw_property_; 00107 FloatProperty* pitch_property_; 00108 FloatProperty* distance_property_; 00109 VectorProperty* focal_point_property_; 00110 00111 Shape* focal_shape_; 00112 bool dragging_; 00113 }; 00114 00115 } 00116 00117 #endif // RVIZ_VIEW_CONTROLLER_H