orbit_view_controller.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2009, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #ifndef RVIZ_ORBIT_VIEW_CONTROLLER_H
31 #define RVIZ_ORBIT_VIEW_CONTROLLER_H
32 
33 #include <OgreVector3.h>
34 
35 #include <QCursor>
36 
38 
39 namespace rviz
40 {
41 class BoolProperty;
42 class FloatProperty;
43 class Shape;
44 class SceneNode;
45 class VectorProperty;
46 
62 {
63 Q_OBJECT
64 public:
66  virtual ~OrbitViewController();
67 
71  virtual void onInitialize();
72 
77  void zoom( float amount );
78  void yaw( float angle );
79  void pitch( float angle );
80  void move( float x, float y, float z );
81 
82  virtual void handleMouseEvent(ViewportMouseEvent& evt);
83 
84  virtual void lookAt( const Ogre::Vector3& point );
85 
86  virtual void reset();
87 
93  virtual void mimic( ViewController* source_view );
94 
95 protected:
96  virtual void update(float dt, float ros_dt);
97  virtual void onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation);
98 
103  void calculatePitchYawFromPosition( const Ogre::Vector3& position );
104 
108  void updateFocalShapeSize();
109 
110  virtual void updateCamera();
111 
118 
120  bool dragging_;
121 };
122 
123 }
124 
125 #endif // RVIZ_VIEW_CONTROLLER_H
virtual void update(float dt, float ros_dt)
Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to r...
FloatProperty * distance_property_
The camera&#39;s distance from the focal point.
void calculatePitchYawFromPosition(const Ogre::Vector3 &position)
Calculates pitch and yaw values given a new position and the current focal point. ...
virtual void mimic(ViewController *source_view)
Configure the settings of this view controller to give, as much as possible, a similar view as that g...
FloatProperty * pitch_property_
The camera&#39;s pitch (rotation around the x-axis), in radians.
Base class of ViewControllers which have a "Target Frame" which is a TF frame whose position they tra...
void updateFocalShapeSize()
Calculates the focal shape size and update it&#39;s geometry.
void zoom(float amount)
Move in/out from the focal point, ie. adjust #distance_ by amount.
virtual void handleMouseEvent(ViewportMouseEvent &evt)
Property specialized to enforce floating point max/min.
TFSIMD_FORCE_INLINE const tfScalar & y() const
virtual void onTargetFrameChanged(const Ogre::Vector3 &old_reference_position, const Ogre::Quaternion &old_reference_orientation)
Override to implement the change in properties which nullifies the change in target frame...
TFSIMD_FORCE_INLINE tfScalar angle(const Quaternion &q1, const Quaternion &q2)
BoolProperty * focal_shape_fixed_size_property_
Whether the focal shape size is fixed or not.
An orbital camera, controlled by yaw, pitch, distance, and focal point.
VectorProperty * focal_point_property_
The point around which the camera "orbits".
FloatProperty * focal_shape_size_property_
The focal shape size.
TFSIMD_FORCE_INLINE const tfScalar & x() const
virtual void onInitialize()
Do subclass-specific initialization. Called by ViewController::initialize after context_, target_scene_node_, and camera_ are set.
TFSIMD_FORCE_INLINE const tfScalar & z() const
FloatProperty * yaw_property_
The camera&#39;s yaw (rotation around the y-axis), in radians.
Property specialized to provide getter for booleans.
Definition: bool_property.h:38
virtual void lookAt(const Ogre::Vector3 &point)
This should be implemented in each subclass to aim the camera at the given point in space (relative t...
void move(float x, float y, float z)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Wed Aug 28 2019 04:01:51