pose_tool.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OgrePlane.h>
#include <OgreRay.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>

#include "rviz/geometry.h"
#include "rviz/ogre_helpers/arrow.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/load_resource.h"
#include "rviz/render_panel.h"

#include "rviz/default_plugin/tools/pose_tool.h"

namespace rviz
{

PoseTool::PoseTool()
  : Tool()
  , arrow_( NULL )
{
}

PoseTool::~PoseTool()
{
  delete arrow_;
}

void PoseTool::onInitialize()
{
  arrow_ = new Arrow( scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f );
  arrow_->setColor( 0.0f, 1.0f, 0.0f, 1.0f );
  arrow_->getSceneNode()->setVisible( false );
}

void PoseTool::activate()
{
  setStatus( "Click and drag mouse to set position/orientation." );
  state_ = Position;
}

void PoseTool::deactivate()
{
  arrow_->getSceneNode()->setVisible( false );
}

int PoseTool::processMouseEvent( ViewportMouseEvent& event )
{
  int flags = 0;

  if( event.leftDown() )
  {
    ROS_ASSERT( state_ == Position );

    Ogre::Vector3 intersection;
    Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
    if( getPointOnPlaneFromWindowXY( event.viewport,
                                     ground_plane,
                                     event.x, event.y, intersection ))
    {
      pos_ = intersection;
      arrow_->setPosition( pos_ );

      state_ = Orientation;
      flags |= Render;
    }
  }
  else if( event.type == QEvent::MouseMove && event.left() )
  {
    if( state_ == Orientation )
    {
      //compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
      if( getPointOnPlaneFromWindowXY( event.viewport,
                                       ground_plane,
                                       event.x, event.y, cur_pos ))
      {
        double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );

        arrow_->getSceneNode()->setVisible( true );

        //we need base_orient, since the arrow goes along the -z axis by default (for historical reasons)
        Ogre::Quaternion orient_x = Ogre::Quaternion( Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y );

        arrow_->setOrientation( Ogre::Quaternion( Ogre::Radian(angle), Ogre::Vector3::UNIT_Z ) * orient_x );

        flags |= Render;
      }
    }
  }
  else if( event.leftUp() )
  {
    if( state_ == Orientation )
    {
      //compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
      if( getPointOnPlaneFromWindowXY( event.viewport,
                                       ground_plane,
                                       event.x, event.y, cur_pos ))
      {
        double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );

        onPoseSet(pos_.x, pos_.y, angle);

        flags |= (Finished|Render);
      }
    }
  }

  return flags;
}

}