fps_motion_view_controller.h
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00001 /*
00002  * Copyright (c) 2012, 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 #ifndef FPS_MOTION_VIEW_CONTROLLER
00031 #define FPS_MOTION_VIEW_CONTROLLER
00032 
00033 #include <OgreVector3.h>
00034 #include <OgreQuaternion.h>
00035 
00036 #include "rviz/frame_position_tracking_view_controller.h"
00037 
00038 using namespace rviz;
00039 
00040 namespace rviz
00041 {
00042 class FloatProperty;
00043 class BoolProperty;
00044 class SceneNode;
00045 class Shape;
00046 class VectorProperty;
00047 
00049 class FPSMotionViewController : public FramePositionTrackingViewController
00050 {
00051 Q_OBJECT
00052 public:
00053   FPSMotionViewController();
00054   virtual ~FPSMotionViewController();
00055 
00056   virtual void onInitialize();
00057 
00058   void yaw( float angle );
00059   void pitch( float angle );
00060   void move( float x, float y, float z );
00061   void fly( float x, float y, float z );
00062   void changeZ(float z );
00063 
00064   virtual void handleMouseEvent(ViewportMouseEvent& evt);
00065 
00066   virtual void lookAt( const Ogre::Vector3& point );
00067 
00068   virtual void reset();
00069 
00075   virtual void mimic( ViewController* source_view );
00076 
00077   virtual void update(float dt, float ros_dt);
00078 
00079   void setCamera( Ogre::Camera* source_camera ) { setPropertiesFromCamera(source_camera );};
00080 
00081 protected:
00082   virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation);
00083 
00084   void setPropertiesFromCamera( Ogre::Camera* source_camera );
00085 
00086   void updateCamera();
00087   void updateCamera(Ogre::Vector3& position, Ogre::Quaternion& orientation);
00088   Ogre::Quaternion getOrientation(); 
00089 
00090   FloatProperty* yaw_property_;                         
00091   FloatProperty* pitch_property_;                       
00092   VectorProperty* position_property_;
00093   BoolProperty* fly_property_;
00094 };
00095 
00096 } // end namespace rviz
00097 
00098 #endif // FPS_MOTION_VIEW_CONTROLLER


rviz_fps_plugin
Author(s): hdeeken
autogenerated on Thu Jun 6 2019 20:43:58