fps_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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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */
 
#ifndef RVIZ_FPS_VIEW_CONTROLLER_H
#define RVIZ_FPS_VIEW_CONTROLLER_H
 
#include <rviz/frame_position_tracking_view_controller.h>
 
namespace rviz
{
class FloatProperty;
class VectorProperty;
 
class FPSViewController : public FramePositionTrackingViewController
{
  Q_OBJECT
 
public:
  FPSViewController();
  ~FPSViewController() override = default;
  void onInitialize() override;
 
  void reset() override;
  void mimic(ViewController* source_view) override;
  void lookAt(const Ogre::Vector3& point) override;
  void handleMouseEvent(ViewportMouseEvent& event) override;
 
  void move(float x, float y, float z);
  void rotate(float yaw, float pitch, float roll);
 
protected:
  void onTargetFrameChanged(const Ogre::Vector3& old_reference_position,
                            const Ogre::Quaternion& old_reference_orientation) override;
 
  Ogre::Quaternion getOrientation(float yaw, float pitch, float roll);
  void setPropertiesFromCamera();
  void resetRoll();
 
  static const Ogre::Quaternion ROBOT_TO_CAMERA_ROTATION;
 
  FloatProperty* yaw_property_;       
  FloatProperty* pitch_property_;     
  FloatProperty* roll_property_;      
  VectorProperty* position_property_; 
 
protected Q_SLOTS:
  virtual void changedPosition();
  virtual void changedOrientation();
};
 
} // end namespace rviz
 
#endif // RVIZ_VIEW_CONTROLLER_H