orbit_view_controller.h

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/*
 * Copyright (c) 2009, 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_ORBIT_VIEW_CONTROLLER_H
#define RVIZ_ORBIT_VIEW_CONTROLLER_H

#include <OgreVector3.h>

#include <QCursor>

#include "rviz/frame_position_tracking_view_controller.h"

namespace rviz
{
class BoolProperty;
class FloatProperty;
class Shape;
class SceneNode;
class VectorProperty;

class OrbitViewController : public FramePositionTrackingViewController
{
  Q_OBJECT
public:
  OrbitViewController();
  ~OrbitViewController() override;

  void onInitialize() override;

  void zoom(float amount);
  void yaw(float angle);
  void pitch(float angle);
  void move(float x, float y, float z);

  void handleMouseEvent(ViewportMouseEvent& evt) override;

  void lookAt(const Ogre::Vector3& point) override;

  void reset() override;

  void mimic(ViewController* source_view) override;

protected:
  void update(float dt, float ros_dt) override;
  void onTargetFrameChanged(const Ogre::Vector3& old_reference_position,
                            const Ogre::Quaternion& old_reference_orientation) override;

  void calculatePitchYawFromPosition(const Ogre::Vector3& position);

  void updateFocalShapeSize();

  virtual void updateCamera();

  FloatProperty* yaw_property_;          
  FloatProperty* pitch_property_;        
  FloatProperty* distance_property_;     
  VectorProperty* focal_point_property_; 
  BoolProperty* focal_shape_fixed_size_property_; 
  FloatProperty* focal_shape_size_property_;      

  Shape* focal_shape_;
  bool dragging_;
};

} // namespace rviz

#endif // RVIZ_VIEW_CONTROLLER_H