An orbital camera, controlled by yaw, pitch, distance, and focal point. More...

#include <orbit_camera.h>

Inheritance diagram for rviz::OrbitCamera:

Public Member Functions
void	fromString (const std::string &str) override
	Loads the camera's configure from the supplied string (generated through toString()) More...

float	getDistance ()

const Ogre::Vector3 &	getFocalPoint ()

Ogre::Quaternion	getOrientation () override
	Get the orientation of this camera. More...

float	getPitch ()

Ogre::Vector3	getPosition () override
	Get the position of this camera. More...

float	getYaw ()

void	lookAt (const Ogre::Vector3 &point) override
	Point the camera at the specified point. More...

void	mouseLeftDown (int x, int y) override

void	mouseLeftDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift) override
	Handle a left mouse button drag. More...

void	mouseLeftUp (int x, int y) override

void	mouseMiddleDown (int x, int y) override

void	mouseMiddleDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift) override
	Handle a middle mouse button drag. More...

void	mouseMiddleUp (int x, int y) override

void	mouseRightDown (int x, int y) override

void	mouseRightDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift) override
	Handle a right mouse button drag. More...

void	mouseRightUp (int x, int y) override

void	move (float x, float y, float z) override
	Move the camera relative to its orientation. More...

	OrbitCamera (Ogre::SceneManager *scene_manager)

void	pitch (float angle) override
	Pitch the camera. More...

void	roll (float angle) override
	Roll the camera. More...

void	scrollWheel (int diff, bool ctrl, bool alt, bool shift) override
	Handle a scrollwheel change. More...

void	setFocalPoint (const Ogre::Vector3 &focal_point)
	Set the focal point of the camera. Keeps the pitch/yaw/distance the same. More...

void	setFrom (CameraBase *camera) override
	Set the position/orientation of this camera from another camera. More...

void	setOrientation (float x, float y, float z, float w) override
	Set the orientation of the camera from a quaternion. More...

void	setPosition (float x, float y, float z) override
	Set the position of the camera. More...

std::string	toString () override
	Returns a string representation of the camera's configuration. More...

void	update () override
	Calculates the camera's position and orientation from the yaw, pitch, distance and focal point. More...

void	yaw (float angle) override
	Yaw the camera. More...

void	zoom (float amount)
	Move in/out from the focal point, ie. adjust distance_ by amount. More...

	~OrbitCamera () override

Public Member Functions inherited from rviz::CameraBase
	CameraBase (Ogre::SceneManager *scene_manager)
	Constructor. More...

Ogre::Camera *	getOgreCamera ()
	Get the Ogre camera associated with this camera object. More...

virtual void	relativeNodeChanged ()
	Called when the relative node changes. More...

virtual void	setOrientation (const Ogre::Quaternion &orientation)
	Set the orientation of the camera. More...

virtual void	setPosition (const Ogre::Vector3 &position)
	Set the position of the camera. More...

void	setRelativeNode (Ogre::SceneNode *node)
	Set a scene node that all camera transformations should be relative to. More...

virtual	~CameraBase ()

Private Member Functions
void	calculatePitchYawFromPosition (const Ogre::Vector3 &position)
	Calculates pitch and yaw values given a new position and the current focal point. More...

Ogre::Vector3	getGlobalFocalPoint ()

void	normalizePitch ()
	Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down) More...

void	normalizeYaw ()
	Normalizes the camera's yaw in the range [0, 2*pi) More...

Private Attributes
float	distance_
	The camera's distance from the focal point. More...

Ogre::Vector3	focal_point_
	The camera's focal point. More...

Shape *	focal_point_object_

float	pitch_
	The camera's pitch (rotation around the x-axis), in radians. More...

float	yaw_
	The camera's yaw (rotation around the y-axis), in radians. More...

Additional Inherited Members
Protected Attributes inherited from rviz::CameraBase
Ogre::Camera *	camera_
	Ogre camera associated with this camera object. More...

Ogre::SceneNode *	relative_node_

Ogre::SceneManager *	scene_manager_
	Scene manager this camera is part of. More...

Detailed Description

An orbital camera, controlled by yaw, pitch, distance, and focal point.

This camera is based on the equation of a sphere in spherical coordinates:

x = d*cos(theta)sin(phi)
y = d*cos(phi)
z = d*sin(theta)sin(phi)

Where:
d = distance_
theta = yaw_
phi = pitch_

Definition at line 61 of file orbit_camera.h.

Constructor & Destructor Documentation

◆ OrbitCamera()

rviz::OrbitCamera::OrbitCamera ( Ogre::SceneManager * scene_manager )

Definition at line 52 of file orbit_camera.cpp.

◆ ~OrbitCamera()

rviz::OrbitCamera::~OrbitCamera ( )

override

Definition at line 67 of file orbit_camera.cpp.

Member Function Documentation

◆ calculatePitchYawFromPosition()

void rviz::OrbitCamera::calculatePitchYawFromPosition ( const Ogre::Vector3 & position )

private

Calculates pitch and yaw values given a new position and the current focal point.

Parameters

position Position to calculate the pitch/yaw for

Definition at line 162 of file orbit_camera.cpp.

◆ fromString()

void rviz::OrbitCamera::fromString ( const std::string & str )

overridevirtual

Loads the camera's configure from the supplied string (generated through toString())

Parameters

str	The string to load from

Implements rviz::CameraBase.

Definition at line 343 of file orbit_camera.cpp.

◆ getDistance()

float rviz::OrbitCamera::getDistance ( )

inline

Definition at line 87 of file orbit_camera.h.

◆ getFocalPoint()

const Ogre::Vector3& rviz::OrbitCamera::getFocalPoint ( )

inline

Definition at line 91 of file orbit_camera.h.

◆ getGlobalFocalPoint()

Ogre::Vector3 rviz::OrbitCamera::getGlobalFocalPoint ( )

private

Definition at line 94 of file orbit_camera.cpp.

◆ getOrientation()

Ogre::Quaternion rviz::OrbitCamera::getOrientation ( )

overridevirtual

Get the orientation of this camera.

Returns: The orientation of this camera

Implements rviz::CameraBase.

Definition at line 157 of file orbit_camera.cpp.

◆ getPitch()

float rviz::OrbitCamera::getPitch ( )

inline

Definition at line 79 of file orbit_camera.h.

◆ getPosition()

Ogre::Vector3 rviz::OrbitCamera::getPosition ( )

overridevirtual

Get the position of this camera.

Returns: The position of this camera

Implements rviz::CameraBase.

Definition at line 152 of file orbit_camera.cpp.

◆ getYaw()

float rviz::OrbitCamera::getYaw ( )

inline

Definition at line 83 of file orbit_camera.h.

◆ lookAt()

void rviz::OrbitCamera::lookAt ( const Ogre::Vector3 & point )

overridevirtual

Point the camera at the specified point.

Parameters

point The point to look at

Implements rviz::CameraBase.

Definition at line 251 of file orbit_camera.cpp.

◆ mouseLeftDown()

void rviz::OrbitCamera::mouseLeftDown	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 313 of file orbit_camera.cpp.

◆ mouseLeftDrag()

void rviz::OrbitCamera::mouseLeftDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)

overridevirtual

Handle a left mouse button drag.

Parameters

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 271 of file orbit_camera.cpp.

◆ mouseLeftUp()

void rviz::OrbitCamera::mouseLeftUp	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 328 of file orbit_camera.cpp.

◆ mouseMiddleDown()

void rviz::OrbitCamera::mouseMiddleDown	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 318 of file orbit_camera.cpp.

◆ mouseMiddleDrag()

void rviz::OrbitCamera::mouseMiddleDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)

overridevirtual

Handle a middle mouse button drag.

Parameters

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 277 of file orbit_camera.cpp.

◆ mouseMiddleUp()

void rviz::OrbitCamera::mouseMiddleUp	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 333 of file orbit_camera.cpp.

◆ mouseRightDown()

void rviz::OrbitCamera::mouseRightDown	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 323 of file orbit_camera.cpp.

◆ mouseRightDrag()

void rviz::OrbitCamera::mouseRightDrag	(	int	diff_x,
		int	diff_y,
		bool	ctrl,
		bool	alt,
		bool	shift
	)

overridevirtual

Handle a right mouse button drag.

Parameters

diff_x	Pixels the mouse has moved in the (window space) x direction
diff_y	Pixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 289 of file orbit_camera.cpp.

◆ mouseRightUp()

void rviz::OrbitCamera::mouseRightUp	(	int	x,
		int	y
	)

overridevirtual

Reimplemented from rviz::CameraBase.

Definition at line 338 of file orbit_camera.cpp.

◆ move()

void rviz::OrbitCamera::move	(	float	x,
		float	y,
		float	z
	)

overridevirtual

Move the camera relative to its orientation.

Parameters

x	Distance to move along the X-axis
y	Distance to move along the Y-axis
z	Distance to move along the Z-axis

Implements rviz::CameraBase.

Definition at line 227 of file orbit_camera.cpp.

◆ normalizePitch()

void rviz::OrbitCamera::normalizePitch ( )

private

Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down)

Definition at line 72 of file orbit_camera.cpp.

◆ normalizeYaw()

void rviz::OrbitCamera::normalizeYaw ( )

private

Normalizes the camera's yaw in the range [0, 2*pi)

Definition at line 84 of file orbit_camera.cpp.

◆ pitch()

void rviz::OrbitCamera::pitch ( float angle )

overridevirtual

Pitch the camera.

Calls to pitch are cumulative, so: pitch(PI); pitch(PI);

is equivalent to pitch(2*PI);

Parameters

angle Angle to pitch, in radians

Implements rviz::CameraBase.

Definition at line 139 of file orbit_camera.cpp.

◆ roll()

void rviz::OrbitCamera::roll ( float angle )

overridevirtual

Roll the camera.

Calls to roll are cumulative, so: roll(PI); roll(PI);

is equivalent to roll(2*PI);

Parameters

angle Angle to roll, in radians

Implements rviz::CameraBase.

Definition at line 148 of file orbit_camera.cpp.

◆ scrollWheel()

void rviz::OrbitCamera::scrollWheel	(	int	diff,
		bool	ctrl,
		bool	alt,
		bool	shift
	)

overridevirtual

Handle a scrollwheel change.

Parameters

diff	Number of "units" the scrollwheel has moved

Todo:: Probably need to pass in how many units there are in a "click" of the wheel

Implements rviz::CameraBase.

Definition at line 301 of file orbit_camera.cpp.

◆ setFocalPoint()

void rviz::OrbitCamera::setFocalPoint ( const Ogre::Vector3 & focal_point )

Set the focal point of the camera. Keeps the pitch/yaw/distance the same.

Parameters

focal_point The new focal point

Definition at line 220 of file orbit_camera.cpp.

◆ setFrom()

void rviz::OrbitCamera::setFrom ( CameraBase * camera )

overridevirtual

Set the position/orientation of this camera from another camera.

Parameters

camera The camera to set from

Implements rviz::CameraBase.

Definition at line 182 of file orbit_camera.cpp.

◆ setOrientation()

void rviz::OrbitCamera::setOrientation	(	float	x,
		float	y,
		float	z,
		float	w
	)

overridevirtual

Set the orientation of the camera from a quaternion.

Implements rviz::CameraBase.

Definition at line 195 of file orbit_camera.cpp.

◆ setPosition()

void rviz::OrbitCamera::setPosition	(	float	x,
		float	y,
		float	z
	)

overridevirtual

Set the position of the camera.

Implements rviz::CameraBase.

Definition at line 241 of file orbit_camera.cpp.

◆ toString()

std::string rviz::OrbitCamera::toString ( )

overridevirtual

Returns a string representation of the camera's configuration.

Implements rviz::CameraBase.

Definition at line 362 of file orbit_camera.cpp.

◆ update()

void rviz::OrbitCamera::update ( )

overridevirtual

Calculates the camera's position and orientation from the yaw, pitch, distance and focal point.

Implements rviz::CameraBase.

Definition at line 106 of file orbit_camera.cpp.

◆ yaw()

void rviz::OrbitCamera::yaw ( float angle )

overridevirtual

Yaw the camera.

Calls to yaw are cumulative, so: yaw(PI); yaw(PI);

is equivalent to yaw(2*PI);

Parameters

angle Angle to yaw, in radians

Implements rviz::CameraBase.

Definition at line 130 of file orbit_camera.cpp.

◆ zoom()

void rviz::OrbitCamera::zoom ( float amount )

Move in/out from the focal point, ie. adjust distance_ by amount.

Parameters

amount The distance to move. Positive amount moves towards the focal point, negative moves away

Definition at line 208 of file orbit_camera.cpp.

Member Data Documentation

◆ distance_

float rviz::OrbitCamera::distance_

private

The camera's distance from the focal point.

Definition at line 150 of file orbit_camera.h.

◆ focal_point_

Ogre::Vector3 rviz::OrbitCamera::focal_point_

private

The camera's focal point.

Definition at line 147 of file orbit_camera.h.

◆ focal_point_object_

Shape* rviz::OrbitCamera::focal_point_object_

private

Definition at line 152 of file orbit_camera.h.

◆ pitch_

float rviz::OrbitCamera::pitch_

private

The camera's pitch (rotation around the x-axis), in radians.

Definition at line 149 of file orbit_camera.h.

◆ yaw_

float rviz::OrbitCamera::yaw_

private

The camera's yaw (rotation around the y-axis), in radians.

Definition at line 148 of file orbit_camera.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrbitCamera()

◆ ~OrbitCamera()

Member Function Documentation

◆ calculatePitchYawFromPosition()

◆ fromString()

◆ getDistance()

◆ getFocalPoint()

◆ getGlobalFocalPoint()

◆ getOrientation()

◆ getPitch()

◆ getPosition()

◆ getYaw()

◆ lookAt()

◆ mouseLeftDown()

◆ mouseLeftDrag()

◆ mouseLeftUp()

◆ mouseMiddleDown()

◆ mouseMiddleDrag()

◆ mouseMiddleUp()

◆ mouseRightDown()

◆ mouseRightDrag()

◆ mouseRightUp()

◆ move()

◆ normalizePitch()

◆ normalizeYaw()

◆ pitch()

◆ roll()

◆ scrollWheel()

◆ setFocalPoint()

◆ setFrom()

◆ setOrientation()

◆ setPosition()

◆ toString()

◆ update()

◆ yaw()

◆ zoom()

Member Data Documentation

◆ distance_

◆ focal_point_

◆ focal_point_object_

◆ pitch_

◆ yaw_