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00030 #include <QKeyEvent>
00031
00032 #include <OgreRay.h>
00033 #include <OgreSceneManager.h>
00034 #include <OgreCamera.h>
00035 #include <OgreMovableObject.h>
00036 #include <OgreRectangle2D.h>
00037 #include <OgreSceneNode.h>
00038 #include <OgreViewport.h>
00039 #include <OgreMaterialManager.h>
00040 #include <OgreTexture.h>
00041 #include <OgreTextureManager.h>
00042
00043 #include <ros/time.h>
00044
00045 #include "move_tool.h"
00046
00047 #include "rviz/ogre_helpers/camera_base.h"
00048 #include "rviz/ogre_helpers/qt_ogre_render_window.h"
00049 #include "rviz/selection/selection_manager.h"
00050 #include "rviz/visualization_manager.h"
00051 #include "rviz/render_panel.h"
00052 #include "rviz/display.h"
00053 #include "rviz/viewport_mouse_event.h"
00054 #include "rviz/load_resource.h"
00055
00056 #include "selection_tool.h"
00057
00058 namespace rviz
00059 {
00060
00061 SelectionTool::SelectionTool()
00062 : Tool()
00063 , move_tool_( new MoveTool() )
00064 , selecting_( false )
00065 , sel_start_x_( 0 )
00066 , sel_start_y_( 0 )
00067 , moving_( false )
00068 {
00069 shortcut_key_ = 's';
00070 }
00071
00072 SelectionTool::~SelectionTool()
00073 {
00074 delete move_tool_;
00075 }
00076
00077 void SelectionTool::onInitialize()
00078 {
00079 move_tool_->initialize( context_ );
00080 }
00081
00082 void SelectionTool::activate()
00083 {
00084 setStatus( "Click and drag to select objects on the screen." );
00085 context_->getSelectionManager()->setTextureSize(512);
00086 selecting_ = false;
00087 moving_ = false;
00088
00089 }
00090
00091 void SelectionTool::deactivate()
00092 {
00093 context_->getSelectionManager()->removeHighlight();
00094 }
00095
00096 void SelectionTool::update(float wall_dt, float ros_dt)
00097 {
00098 SelectionManager* sel_manager = context_->getSelectionManager();
00099
00100 if (!selecting_)
00101 {
00102 sel_manager->removeHighlight();
00103 }
00104 }
00105
00106 int SelectionTool::processMouseEvent( ViewportMouseEvent& event )
00107 {
00108 SelectionManager* sel_manager = context_->getSelectionManager();
00109
00110 int flags = 0;
00111
00112 if( event.alt() )
00113 {
00114 moving_ = true;
00115 selecting_ = false;
00116 }
00117 else
00118 {
00119 moving_ = false;
00120
00121 if( event.leftDown() )
00122 {
00123 selecting_ = true;
00124
00125 sel_start_x_ = event.x;
00126 sel_start_y_ = event.y;
00127 }
00128 }
00129
00130 if( selecting_ )
00131 {
00132 sel_manager->highlight( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y );
00133
00134 if( event.leftUp() )
00135 {
00136 SelectionManager::SelectType type = SelectionManager::Replace;
00137
00138 M_Picked selection;
00139
00140 if( event.shift() )
00141 {
00142 type = SelectionManager::Add;
00143 }
00144 else if( event.control() )
00145 {
00146 type = SelectionManager::Remove;
00147 }
00148
00149 sel_manager->select( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y, type );
00150
00151 selecting_ = false;
00152 }
00153
00154 flags |= Render;
00155 }
00156 else if( moving_ )
00157 {
00158 sel_manager->removeHighlight();
00159
00160 flags = move_tool_->processMouseEvent( event );
00161
00162 if( event.type == QEvent::MouseButtonRelease )
00163 {
00164 moving_ = false;
00165 }
00166 }
00167 else
00168 {
00169 sel_manager->highlight( event.viewport, event.x, event.y, event.x, event.y );
00170 }
00171
00172 return flags;
00173 }
00174
00175 int SelectionTool::processKeyEvent( QKeyEvent* event, RenderPanel* panel )
00176 {
00177 SelectionManager* sel_manager = context_->getSelectionManager();
00178
00179 if( event->key() == Qt::Key_F )
00180 {
00181 sel_manager->focusOnSelection();
00182 }
00183
00184 return Render;
00185 }
00186
00187 }
00188
00189 #include <pluginlib/class_list_macros.h>
00190 PLUGINLIB_EXPORT_CLASS( rviz::SelectionTool, rviz::Tool )