An un-constrained "flying" camera, specified by an eye point, focus point, and up vector. More...

#include <tablet_view_controller.h>

Inheritance diagram for jsk_rviz_plugins::TabletViewController:

Public Types
enum	{ TRANSITION_LINEAR = 0, TRANSITION_SPHERICAL }
Public Member Functions
virtual void	handleMouseEvent (rviz::ViewportMouseEvent &evt)
virtual void	lookAt (const Ogre::Vector3 &point)
	Calls beginNewTransition() to move the focus point to the point provided, assumed to be in the Rviz Fixed Frame.
virtual void	mimic (ViewController *source_view)
	Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view.
void	move_eye (float x, float y, float z)
	Applies a translation to only the eye point.
void	move_focus_and_eye (float x, float y, float z)
	Applies a translation to the focus and eye points.
void	moveEyeWithFocusTo (const Ogre::Vector3 &point)
	Calls beginNewTransition() to move the eye to the point given, keeping the direction fixed.
virtual void	onActivate ()
	called by activate().
virtual void	onInitialize ()
	Do subclass-specific initialization. Called by ViewController::initialize after context_ and camera_ are set.
void	orbitCameraTo (const Ogre::Vector3 &point)
	Calls beginNewTransition() with the focus point fixed, moving the eye to the point given.
virtual void	reset ()
	Resets the camera parameters to a sane value.
	TabletViewController ()
virtual void	transitionFrom (ViewController *previous_view)
	Called by ViewManager when this ViewController is being made current.
void	yaw_pitch_roll (float yaw, float pitch, float roll)
	Applies a body-fixed-axes sequence of rotations; only accurate for small angles.
virtual	~TabletViewController ()
Protected Slots
virtual void	onDistancePropertyChanged ()
	Called when distance property is changed; computes new eye position.
virtual void	onEyePropertyChanged ()
	Called when eye property is changed; computes new distance.
virtual void	onFocusPropertyChanged ()
	Called focus property is changed; computes new distance.
virtual void	onUpPropertyChanged ()
	Called when up vector property is changed (does nothing for now...).
virtual void	updateAttachedFrame ()
	Called when Target Frame property changes while view is active. Purpose is to change values in the view controller (like a position offset) such that the actual viewpoint does not change. Calls updateTargetSceneNode() and onTargetFrameChanged().
void	updateMousePointPublishTopics ()
void	updatePublishTopics ()
void	updateTopics ()
Protected Member Functions
Ogre::Vector3	attachedLocalToFixedFrame (const Ogre::Vector3 &v)
void	beginNewTransition (const Ogre::Vector3 &eye, const Ogre::Vector3 &focus, const Ogre::Vector3 &up, const ros::Duration &transition_time)
	Begins a camera movement animation to the given goal points.
void	cameraPlacementCallback (const view_controller_msgs::CameraPlacementConstPtr &cp_ptr)
void	cancelTransition ()
	Cancels any currently active camera movement.
void	connectPositionProperties ()
	Convenience function; connects the signals/slots for position properties.
void	disconnectPositionProperties ()
	Convenience function; disconnects the signals/slots for position properties.
Ogre::Vector3	fixedFrameToAttachedLocal (const Ogre::Vector3 &v)
float	getDistanceFromCameraToFocalPoint ()
	Return the distance between camera and focal point.
Ogre::Quaternion	getOrientation ()
	Return a Quaternion.
virtual void	onAttachedFrameChanged (const Ogre::Vector3 &old_reference_position, const Ogre::Quaternion &old_reference_orientation)
	Override to implement the change in properties which nullifies the change in attached frame.
void	publishCurrentPlacement ()
void	publishMouseEvent (rviz::ViewportMouseEvent &event)
void	setPropertiesFromCamera (Ogre::Camera *source_camera)
void	transformCameraPlacementToAttachedFrame (view_controller_msgs::CameraPlacement &cp)
virtual void	update (float dt, float ros_dt)
	Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly.
void	updateAttachedSceneNode ()
	Update the position of the attached_scene_node_ from the TF frame specified in the Attached Frame property.
void	updateCamera ()
	Updates the Ogre camera properties from the view controller properties.
Protected Attributes
bool	animate_
rviz::TfFrameProperty *	attached_frame_property_
Ogre::SceneNode *	attached_scene_node_
rviz::RosTopicProperty *	camera_placement_publish_topic_property_
rviz::RosTopicProperty *	camera_placement_topic_property_
ros::Duration	current_transition_duration_
rviz::FloatProperty *	default_transition_time_property_
	A default time for any animation requests.
rviz::FloatProperty *	distance_property_
	The camera's distance from the focal point.
bool	dragging_
	A flag indicating the dragging state of the mouse.
rviz::VectorProperty *	eye_point_property_
	The position of the camera.
rviz::BoolProperty *	fixed_up_property_
	If True, "up" is fixed to ... up.
rviz::Shape *	focal_shape_
	A small ellipsoid to show the focus point.
rviz::VectorProperty *	focus_point_property_
	The point around which the camera "orbits".
Ogre::Vector3	goal_focus_
Ogre::Vector3	goal_position_
Ogre::Vector3	goal_up_
QCursor	interaction_disabled_cursor_
	A cursor for indicating mouse interaction is disabled.
rviz::EditableEnumProperty *	interaction_mode_property_
	Select between Orbit or FPS control style.
rviz::BoolProperty *	mouse_enabled_property_
	If True, most user changes to camera state are disabled.
rviz::RosTopicProperty *	mouse_point_publish_topic_property_
ros::Publisher	mouse_point_publisher_
ros::NodeHandle	nh_
ros::Publisher	placement_publisher_
ros::Subscriber	placement_subscriber_
Ogre::Quaternion	reference_orientation_
	Used to store the orientation of the attached frame relative to <Fixed frame>="">
Ogre::Vector3	reference_position_
	Used to store the position of the attached frame relative to <Fixed frame>="">
Ogre::Vector3	start_focus_
Ogre::Vector3	start_position_
Ogre::Vector3	start_up_
ros::Time	trajectory_start_time_
ros::Time	transition_start_time_
rviz::VectorProperty *	up_vector_property_
	The up vector for the camera.

Detailed Description

An un-constrained "flying" camera, specified by an eye point, focus point, and up vector.

Definition at line 64 of file tablet_view_controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

TRANSITION_LINEAR
TRANSITION_SPHERICAL

Definition at line 69 of file tablet_view_controller.h.

Constructor & Destructor Documentation

jsk_rviz_plugins::TabletViewController::TabletViewController ( )

Definition at line 102 of file tablet_view_controller.cpp.

jsk_rviz_plugins::TabletViewController::~TabletViewController ( ) [virtual]

Definition at line 154 of file tablet_view_controller.cpp.

Member Function Documentation

Ogre::Vector3 jsk_rviz_plugins::TabletViewController::attachedLocalToFixedFrame ( const Ogre::Vector3 & v ) [inline, protected]

Definition at line 193 of file tablet_view_controller.h.

void jsk_rviz_plugins::TabletViewController::beginNewTransition	(	const Ogre::Vector3 &	eye,
		const Ogre::Vector3 &	focus,
		const Ogre::Vector3 &	up,
		const ros::Duration &	transition_time
	)		`[protected]`

Begins a camera movement animation to the given goal points.

Definition at line 585 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::cameraPlacementCallback ( const view_controller_msgs::CameraPlacementConstPtr & cp_ptr ) [protected]

Definition at line 619 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::cancelTransition ( ) [protected]

Cancels any currently active camera movement.

Definition at line 614 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::connectPositionProperties ( ) [protected]

Convenience function; connects the signals/slots for position properties.

Definition at line 263 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::disconnectPositionProperties ( ) [protected]

Convenience function; disconnects the signals/slots for position properties.

Definition at line 271 of file tablet_view_controller.cpp.

Ogre::Vector3 jsk_rviz_plugins::TabletViewController::fixedFrameToAttachedLocal ( const Ogre::Vector3 & v ) [inline, protected]

Definition at line 192 of file tablet_view_controller.h.

float jsk_rviz_plugins::TabletViewController::getDistanceFromCameraToFocalPoint ( ) [protected]

Return the distance between camera and focal point.

Definition at line 362 of file tablet_view_controller.cpp.

Ogre::Quaternion jsk_rviz_plugins::TabletViewController::getOrientation ( ) [protected]

Return a Quaternion.

Definition at line 836 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::handleMouseEvent ( rviz::ViewportMouseEvent & evt ) [virtual]

Reimplemented from rviz::ViewController.

Definition at line 386 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::lookAt ( const Ogre::Vector3 & point ) [virtual]

Calls beginNewTransition() to move the focus point to the point provided, assumed to be in the Rviz Fixed Frame.

Reimplemented from rviz::ViewController.

Definition at line 719 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::mimic ( ViewController * source_view ) [virtual]

Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view.

source_view must return a valid Ogre::Camera* from getCamera().

Reimplemented from rviz::ViewController.

Definition at line 540 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::move_eye	(	float	x,
		float	y,
		float	z
	)

Applies a translation to only the eye point.

Definition at line 848 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::move_focus_and_eye	(	float	x,
		float	y,
		float	z
	)

Applies a translation to the focus and eye points.

Definition at line 841 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::moveEyeWithFocusTo ( const Ogre::Vector3 & point )

Calls beginNewTransition() to move the eye to the point given, keeping the direction fixed.

Definition at line 741 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onActivate ( ) [virtual]

called by activate().

This version calls updateAttachedSceneNode().

Reimplemented from rviz::ViewController.

Definition at line 243 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onAttachedFrameChanged	(	const Ogre::Vector3 &	old_reference_position,
		const Ogre::Quaternion &	old_reference_orientation
	)		`[protected, virtual]`

Override to implement the change in properties which nullifies the change in attached frame.

See also:: updateAttachedFrame()

Definition at line 342 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onDistancePropertyChanged ( ) [protected, virtual, slot]

Called when distance property is changed; computes new eye position.

Definition at line 289 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onEyePropertyChanged ( ) [protected, virtual, slot]

Called when eye property is changed; computes new distance.

Definition at line 279 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onFocusPropertyChanged ( ) [protected, virtual, slot]

Called focus property is changed; computes new distance.

Definition at line 284 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onInitialize ( ) [virtual]

Do subclass-specific initialization. Called by ViewController::initialize after context_ and camera_ are set.

This version sets up the attached_scene_node, focus shape, and subscribers.

Reimplemented from rviz::ViewController.

Definition at line 227 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::onUpPropertyChanged ( ) [protected, virtual, slot]

Called when up vector property is changed (does nothing for now...).

Definition at line 297 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::orbitCameraTo ( const Ogre::Vector3 & point )

Calls beginNewTransition() with the focus point fixed, moving the eye to the point given.

Definition at line 734 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::publishCurrentPlacement ( ) [protected]

Definition at line 186 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::publishMouseEvent ( rviz::ViewportMouseEvent & event ) [protected]

Definition at line 172 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::reset ( ) [virtual]

Resets the camera parameters to a sane value.

Implements rviz::ViewController.

Definition at line 367 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::setPropertiesFromCamera ( Ogre::Camera * source_camera ) [protected]

Definition at line 525 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::transformCameraPlacementToAttachedFrame ( view_controller_msgs::CameraPlacement & cp ) [protected]

Definition at line 690 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::transitionFrom ( ViewController * previous_view ) [virtual]

Called by ViewManager when this ViewController is being made current.

Parameters:

previous_view is the previous "current" view, and will not be NULL.

This gives ViewController subclasses an opportunity to implement a smooth transition from a previous viewpoint to the new viewpoint.

Reimplemented from rviz::ViewController.

Definition at line 568 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::update	(	float	dt,
		float	ros_dt
	)		`[protected, virtual]`

Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly.

Reimplemented from rviz::ViewController.

Definition at line 749 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updateAttachedFrame ( ) [protected, virtual, slot]

Called when Target Frame property changes while view is active. Purpose is to change values in the view controller (like a position offset) such that the actual viewpoint does not change. Calls updateTargetSceneNode() and onTargetFrameChanged().

Definition at line 314 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updateAttachedSceneNode ( ) [protected]

Update the position of the attached_scene_node_ from the TF frame specified in the Attached Frame property.

Definition at line 324 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updateCamera ( ) [protected]

Updates the Ogre camera properties from the view controller properties.

Definition at line 785 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updateMousePointPublishTopics ( ) [protected, slot]

Definition at line 166 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updatePublishTopics ( ) [protected, slot]

Definition at line 160 of file tablet_view_controller.cpp.

void jsk_rviz_plugins::TabletViewController::updateTopics ( ) [protected, slot]