focus_tool.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2013, 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 #include <OgreRay.h>
31 #include <OgreVector3.h>
32 #include <OgreViewport.h>
33 #include <OgreCamera.h>
34 
36 #include "rviz/load_resource.h"
37 #include "rviz/render_panel.h"
38 #include "rviz/display_context.h"
40 #include "rviz/view_controller.h"
41 
43 
44 #include <sstream>
45 
46 namespace rviz
47 {
49 {
50 }
51 
53 {
54 }
55 
57 {
59  hit_cursor_ = makeIconCursor("package://rviz/icons/crosshair.svg");
60 }
61 
63 {
64 }
65 
67 {
68 }
69 
71 {
72  int flags = 0;
73 
74  Ogre::Vector3 pos;
75  bool success = context_->getSelectionManager()->get3DPoint(event.viewport, event.x, event.y, pos);
76  setCursor(success ? hit_cursor_ : std_cursor_);
77 
78  if (!success)
79  {
80  Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
81  (float)event.x / (float)event.viewport->getActualWidth(),
82  (float)event.y / (float)event.viewport->getActualHeight());
83 
84  pos = mouse_ray.getPoint(1.0);
85  setStatus("<b>Left-Click:</b> Look in this direction.");
86  }
87  else
88  {
89  std::ostringstream s;
90  s << "<b>Left-Click:</b> Focus on this point.";
91  s.precision(3);
92  s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
93  setStatus(s.str().c_str());
94  }
95 
96  if (event.leftUp())
97  {
98  if (event.panel->getViewController())
99  {
100  event.panel->getViewController()->lookAt(pos);
101  }
102  flags |= Finished;
103  }
104 
105  return flags;
106 }
107 
108 } // namespace rviz
109 
ViewController * getViewController()
Definition: render_panel.h:90
void activate() override
Definition: focus_tool.cpp:62
QCursor makeIconCursor(QString url, bool fill_cache)
~FocusTool() override
Definition: focus_tool.cpp:52
XmlRpcServer s
void deactivate() override
Definition: focus_tool.cpp:66
QCursor getDefaultCursor(bool)
void onInitialize() override
Definition: focus_tool.cpp:56
virtual SelectionManager * getSelectionManager() const =0
Return a pointer to the SelectionManager.
DisplayContext * context_
Definition: tool.h:207
QCursor std_cursor_
Definition: focus_tool.h:55
void setStatus(const QString &message)
Definition: tool.cpp:101
void setCursor(const QCursor &cursor)
Set the cursor for this tool.
Definition: tool.cpp:67
QCursor hit_cursor_
Definition: focus_tool.h:56
bool get3DPoint(Ogre::Viewport *viewport, const int x, const int y, Ogre::Vector3 &result_point)
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
int processMouseEvent(ViewportMouseEvent &event) override
Definition: focus_tool.cpp:70


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Aug 15 2022 02:05:16