fps_motion_view_controller.h

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/*
 * Copyright (c) 2012, 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
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 */

#ifndef FPS_MOTION_VIEW_CONTROLLER
#define FPS_MOTION_VIEW_CONTROLLER

#include <OgreVector3.h>
#include <OgreQuaternion.h>

#include "rviz/frame_position_tracking_view_controller.h"

using namespace rviz;

namespace rviz
{
class FloatProperty;
class BoolProperty;
class SceneNode;
class Shape;
class VectorProperty;

class FPSMotionViewController : public FramePositionTrackingViewController
{
Q_OBJECT
public:
  FPSMotionViewController();
  virtual ~FPSMotionViewController();

  virtual void onInitialize();

  void yaw( float angle );
  void pitch( float angle );
  void move( float x, float y, float z );
  void fly( float x, float y, float z );
  void changeZ(float z );

  virtual void handleMouseEvent(ViewportMouseEvent& evt);

  virtual void lookAt( const Ogre::Vector3& point );

  virtual void reset();

  virtual void mimic( ViewController* source_view );

  virtual void update(float dt, float ros_dt);

  void setCamera( Ogre::Camera* source_camera ) { setPropertiesFromCamera(source_camera );};

protected:
  virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation);

  void setPropertiesFromCamera( Ogre::Camera* source_camera );

  void updateCamera();
  void updateCamera(Ogre::Vector3& position, Ogre::Quaternion& orientation);
  Ogre::Quaternion getOrientation(); 

  FloatProperty* yaw_property_;                         
  FloatProperty* pitch_property_;                       
  VectorProperty* position_property_;
  BoolProperty* fly_property_;
};

} // end namespace rviz

#endif // FPS_MOTION_VIEW_CONTROLLER