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00030 #include <OgreCamera.h>
00031 #include <OgreSceneManager.h>
00032 #include <OgreSceneNode.h>
00033
00034 #include "rviz/display_context.h"
00035 #include "rviz/frame_manager.h"
00036 #include "rviz/properties/enum_property.h"
00037 #include "rviz/properties/tf_frame_property.h"
00038 #include "rviz/viewport_mouse_event.h"
00039 #include "rviz/view_manager.h"
00040
00041 #include "rviz/frame_position_tracking_view_controller.h"
00042
00043 namespace rviz
00044 {
00045
00046 FramePositionTrackingViewController::FramePositionTrackingViewController()
00047 : target_scene_node_( NULL )
00048 {
00049 target_frame_property_ = new TfFrameProperty( "Target Frame", TfFrameProperty::FIXED_FRAME_STRING,
00050 "TF frame whose motion this view will follow.", this, NULL, true );
00051 }
00052
00053 void FramePositionTrackingViewController::onInitialize()
00054 {
00055 target_frame_property_->setFrameManager( context_->getFrameManager() );
00056
00057 target_scene_node_ = context_->getSceneManager()->getRootSceneNode()->createChildSceneNode();
00058 camera_->detachFromParent();
00059 target_scene_node_->attachObject( camera_ );
00060 }
00061
00062 FramePositionTrackingViewController::~FramePositionTrackingViewController()
00063 {
00064 context_->getSceneManager()->destroySceneNode( target_scene_node_ );
00065 }
00066
00067 void FramePositionTrackingViewController::onActivate()
00068 {
00069 updateTargetSceneNode();
00070
00071
00072
00073
00074
00075
00076
00077 connect( target_frame_property_, SIGNAL( changed() ), this, SLOT( updateTargetFrame() ));
00078 }
00079
00080 void FramePositionTrackingViewController::update(float dt, float ros_dt)
00081 {
00082 updateTargetSceneNode();
00083 }
00084
00085 void FramePositionTrackingViewController::updateTargetFrame()
00086 {
00087 Ogre::Vector3 old_position = target_scene_node_->getPosition();
00088 Ogre::Quaternion old_orientation = target_scene_node_->getOrientation();
00089
00090 updateTargetSceneNode();
00091
00092 onTargetFrameChanged( old_position, old_orientation );
00093 }
00094
00095 bool FramePositionTrackingViewController::getNewTransform()
00096 {
00097 Ogre::Vector3 new_reference_position;
00098 Ogre::Quaternion new_reference_orientation;
00099
00100 bool got_transform = context_->getFrameManager()->getTransform( target_frame_property_->getFrameStd(), ros::Time(),
00101 new_reference_position, new_reference_orientation );
00102 if( got_transform )
00103 {
00104 reference_position_ = new_reference_position;
00105 reference_orientation_ = new_reference_orientation;
00106 }
00107 return got_transform;
00108 }
00109
00110 void FramePositionTrackingViewController::updateTargetSceneNode()
00111 {
00112 if ( getNewTransform() )
00113 {
00114 target_scene_node_->setPosition( reference_position_ );
00115
00116 context_->queueRender();
00117 }
00118
00119
00130
00131 }
00132
00133 void FramePositionTrackingViewController::mimic( ViewController* source_view )
00134 {
00135 QVariant target_frame = source_view->subProp( "Target Frame" )->getValue();
00136 if( target_frame.isValid() )
00137 {
00138 target_frame_property_->setValue( target_frame );
00139 }
00140 }
00141
00142 }