focus_tool.cpp
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00001 /*
00002  * Copyright (c) 2013, 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 <OgreRay.h>
00031 #include <OgreVector3.h>
00032 #include <OgreViewport.h>
00033 #include <OgreCamera.h>
00034 
00035 #include "rviz/viewport_mouse_event.h"
00036 #include "rviz/load_resource.h"
00037 #include "rviz/render_panel.h"
00038 #include "rviz/display_context.h"
00039 #include "rviz/selection/selection_manager.h"
00040 #include "rviz/view_controller.h"
00041 
00042 #include "rviz/default_plugin/tools/focus_tool.h"
00043 
00044 #include <sstream>
00045 
00046 namespace rviz
00047 {
00048 
00049 FocusTool::FocusTool()
00050   : Tool()
00051 {
00052 }
00053 
00054 FocusTool::~FocusTool()
00055 {
00056 }
00057 
00058 void FocusTool::onInitialize()
00059 {
00060   std_cursor_ = getDefaultCursor();
00061   hit_cursor_ = makeIconCursor( "package://rviz/icons/crosshair.svg" );
00062 }
00063 
00064 void FocusTool::activate()
00065 {
00066 }
00067 
00068 void FocusTool::deactivate()
00069 {
00070 }
00071 
00072 int FocusTool::processMouseEvent( ViewportMouseEvent& event )
00073 {
00074   int flags = 0;
00075 
00076   Ogre::Vector3 pos;
00077   bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos );
00078   setCursor( success ? hit_cursor_ : std_cursor_ );
00079 
00080   if ( !success )
00081   {
00082     Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
00083         (float)event.x / (float)event.viewport->getActualWidth(),
00084         (float)event.y / (float)event.viewport->getActualHeight() );
00085 
00086     pos = mouse_ray.getPoint(1.0);
00087     setStatus( "<b>Left-Click:</b> Look in this direction." );
00088   }
00089   else
00090   {
00091     std::ostringstream s;
00092     s << "<b>Left-Click:</b> Focus on this point.";
00093     s.precision(3);
00094     s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
00095     setStatus( s.str().c_str() );
00096   }
00097 
00098   if( event.leftUp() )
00099   {
00100     if ( event.panel->getViewController() )
00101     {
00102       event.panel->getViewController()->lookAt( pos );
00103     }
00104     flags |= Finished;
00105   }
00106 
00107   return flags;
00108 }
00109 
00110 }
00111 
00112 #include <pluginlib/class_list_macros.h>
00113 PLUGINLIB_EXPORT_CLASS( rviz::FocusTool, rviz::Tool )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:15