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

#include <orbit_view_controller.h>

Inheritance diagram for rviz::OrbitViewController:

[legend]

Public Member Functions
void	handleMouseEvent (ViewportMouseEvent &evt) override

void	lookAt (const Ogre::Vector3 &point) override
	This should be implemented in each subclass to aim the camera at the given point in space (relative to the fixed frame). More...

void	mimic (ViewController *source_view) override
	Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view. More...

void	move (float x, float y, float z)

void	onInitialize () override
	Do subclass-specific initialization. Called by ViewController::initialize after context_, target_scene_node_, and camera_ are set. More...

	OrbitViewController ()

void	pitch (float angle)

void	reset () override

void	yaw (float angle)

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

	~OrbitViewController () override

Public Member Functions inherited from rviz::FramePositionTrackingViewController
	FramePositionTrackingViewController ()

void	mimic (ViewController *source_view) override
	Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view. More...

void	onActivate () override
	called by activate(). More...

void	onInitialize () override
	Do subclass-specific initialization. More...

void	update (float dt, float ros_dt) override
	Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly. More...

	~FramePositionTrackingViewController () override

Public Member Functions inherited from rviz::ViewController
void	activate ()
	Called by RenderPanel when this view controller is about to be used. More...

void	emitConfigChanged ()
	Subclasses should call this whenever a change is made which would change the results of toString(). More...

Ogre::Camera *	getCamera () const

virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...

virtual QCursor	getCursor ()

QVariant	getViewData (int column, int role) const override
	Overridden from Property to give a different background color and bold font if this view is active. More...

Qt::ItemFlags	getViewFlags (int column) const override
	Overridden from Property to make this draggable if it is not active. More...

virtual void	handleKeyEvent (QKeyEvent event, RenderPanel panel)
	Called by MoveTool and InteractionTool when keyboard events are passed to them. More...

void	initialize (DisplayContext *context)
	Do all setup that can't be done in the constructor. More...

bool	isActive () const

void	load (const Config &config) override
	Load the value of this property and/or its children from the given Config reference. More...

void	lookAt (float x, float y, float z)
	Convenience function which calls lookAt(Ogre::Vector3). More...

void	save (Config config) const override
	Write the value of this property and/or its children into the given Config reference. More...

virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...

virtual void	transitionFrom (ViewController *previous_view)
	Called by ViewManager when this ViewController is being made current. More...

	ViewController ()

	~ViewController () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...

Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...

virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...

virtual void	collapse ()
	Collapse (hide the children of) this Property. More...

template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const QObject *context, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, considering context. More...

QMetaObject::Connection	connect (const QObject receiver, const char slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot of receiver. More...

template<typename Func , typename R >
std::enable_if< QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const R *receiver, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot member function of receiver object. More...

template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, using this as context. More...

bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...

virtual void	expand ()
	Expand (show the children of) this Property. More...

virtual QString	getDescription () const
	Return the description. More...

virtual bool	getDisableChildren ()
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...

virtual QString	getName () const
	Return the name of this Property as a QString. More...

std::string	getNameStd () const
	Return the name of this Property as a std::string. More...

Property *	getParent () const
	Return the parent Property. More...

virtual bool	getReadOnly () const
	Return the read-only-ness of this property. More...

virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...

void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...

void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...

bool	isAncestorOf (Property *possible_child) const
	Returns true if `this` is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...

virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...

virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...

template<typename Func , typename P >
	Property (const QString &name, const QVariant &default_value, const QString &description, P *parent, Func &&changed_slot)

template<typename Func , typename R >
	Property (const QString &name, const QVariant &default_value, const QString &description, Property parent, Func &&changed_slot, const R receiver)

	Property (const QString &name=QString(), const QVariant &default_value=QVariant(), const QString &description=QString(), Property *parent=nullptr)
	Constructor. More...

virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...

int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...

virtual void	setDescription (const QString &description)
	Set the description. More...

virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...

virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...

void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...

virtual void	setName (const QString &name)
	Set the name. More...

void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...

virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...

void	setShouldBeSaved (bool save)
	If save is false, neither the property nor its children will get saved. If true (the default), the property itself will only get saved if it is not read-only; children will get saved in any case (according to their save + read-only flags). More...

virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...

bool	shouldBeSaved () const
	Returns true if the property has data worth saving. More...

void	show ()
	Show this Property in any PropertyTreeWidgets. More...

virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...

Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...

virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...

	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

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

void	onTargetFrameChanged (const Ogre::Vector3 &old_reference_position, const Ogre::Quaternion &old_reference_orientation) override
	Override to implement the change in properties which nullifies the change in target frame. More...

void	update (float dt, float ros_dt) override
	Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly. More...

virtual void	updateCamera ()

void	updateFocalShapeSize ()
	Calculates the focal shape size and update it's geometry. More...

Protected Member Functions inherited from rviz::FramePositionTrackingViewController
bool	getNewTransform ()

virtual void	updateTargetSceneNode ()
	Update the position of the target_scene_node_ from the TF frame specified in the Target Frame property. More...

Protected Member Functions inherited from rviz::ViewController
void	setCursor (CursorType cursor_type)

void	setCursor (QCursor cursor)

void	setStatus (const QString &message)

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Protected Attributes
FloatProperty *	distance_property_
	The camera's distance from the focal point. More...

bool	dragging_

VectorProperty *	focal_point_property_
	The point around which the camera "orbits". More...

Shape *	focal_shape_

BoolProperty *	focal_shape_fixed_size_property_
	Whether the focal shape size is fixed or not. More...

FloatProperty *	focal_shape_size_property_
	The focal shape size. More...

FloatProperty *	fov_property_
	The camera's vertical field of view, in radians. More...

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

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

Protected Attributes inherited from rviz::FramePositionTrackingViewController
Ogre::Quaternion	reference_orientation_

Ogre::Vector3	reference_position_

TfFrameProperty *	target_frame_property_

Ogre::SceneNode *	target_scene_node_

Protected Attributes inherited from rviz::ViewController
Ogre::Camera *	camera_

DisplayContext *	context_

QCursor	cursor_

BoolProperty *	invert_z_

bool	is_active_

FloatProperty *	near_clip_property_

BoolProperty *	stereo_enable_

FloatProperty *	stereo_eye_separation_

BoolProperty *	stereo_eye_swap_

FloatProperty *	stereo_focal_distance_

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...

QIcon	icon_

PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...

QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Additional Inherited Members
Signals inherited from rviz::ViewController
void	configChanged ()

Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...

void	changed ()
	Emitted by setValue() just after the value has changed. More...

void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...

Static Public Member Functions inherited from rviz::ViewController
static QString	formatClassId (const QString &class_id)

Protected Types inherited from rviz::ViewController
enum	CursorType { Default, Rotate2D, Rotate3D, MoveXY, MoveZ, Zoom, Crosshair }

Protected Slots inherited from rviz::FramePositionTrackingViewController
virtual void	updateTargetFrame ()
	Called when Target Frame property changes while view is active. Purpose is to change values in the view controller (like a position offset) such that the actual viewpoint does not change. Calls updateTargetSceneNode() and onTargetFrameChanged(). 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_view_controller.h.

Constructor & Destructor Documentation

◆ OrbitViewController()

rviz::OrbitViewController::OrbitViewController ( )

Definition at line 61 of file orbit_view_controller.cpp.

◆ ~OrbitViewController()

rviz::OrbitViewController::~OrbitViewController ( )

override

Definition at line 103 of file orbit_view_controller.cpp.

Member Function Documentation

◆ calculatePitchYawFromPosition()

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

protected

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 306 of file orbit_view_controller.cpp.

◆ handleMouseEvent()

void rviz::OrbitViewController::handleMouseEvent ( ViewportMouseEvent & evt )

overridevirtual

Reimplemented from rviz::ViewController.

Reimplemented in rviz::ThirdPersonFollowerViewController, and rviz::XYOrbitViewController.

Definition at line 121 of file orbit_view_controller.cpp.

◆ lookAt()

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

overridevirtual

This should be implemented in each subclass to aim the camera at the given point in space (relative to the fixed frame).

Reimplemented from rviz::ViewController.

Reimplemented in rviz::ThirdPersonFollowerViewController, and rviz::XYOrbitViewController.

Definition at line 247 of file orbit_view_controller.cpp.

◆ mimic()

void rviz::OrbitViewController::mimic ( ViewController * source_view )

overridevirtual

Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view.

source_view must return a valid Ogre::Camera* from getCamera().

Reimplemented from rviz::ViewController.

Reimplemented in rviz::ThirdPersonFollowerViewController, and rviz::XYOrbitViewController.

Definition at line 212 of file orbit_view_controller.cpp.

◆ move()

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

Definition at line 330 of file orbit_view_controller.cpp.

◆ onInitialize()

void rviz::OrbitViewController::onInitialize ( )

overridevirtual

Do subclass-specific initialization. Called by ViewController::initialize after context_, target_scene_node_, and camera_ are set.

Reimplemented from rviz::ViewController.

Reimplemented in rviz::ThirdPersonFollowerViewController, and rviz::XYOrbitViewController.

Definition at line 91 of file orbit_view_controller.cpp.

◆ onTargetFrameChanged()

void rviz::OrbitViewController::onTargetFrameChanged	(	const Ogre::Vector3 &	,
		const Ogre::Quaternion &
	)

overrideprotectedvirtual

Override to implement the change in properties which nullifies the change in target frame.

See also: updateTargetFrame()

Reimplemented from rviz::FramePositionTrackingViewController.

Definition at line 257 of file orbit_view_controller.cpp.

◆ pitch()

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

Definition at line 301 of file orbit_view_controller.cpp.

◆ reset()

void rviz::OrbitViewController::reset ( )

overridevirtual

Reset the view controller to some sane initial state, like looking at 0,0,0 from a few meters away.

Implements rviz::ViewController.

Definition at line 108 of file orbit_view_controller.cpp.

◆ update()

void rviz::OrbitViewController::update	(	float	dt,
		float	ros_dt
	)

overrideprotectedvirtual

Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly.

Reimplemented from rviz::ViewController.

Definition at line 241 of file orbit_view_controller.cpp.

◆ updateCamera()

void rviz::OrbitViewController::updateCamera ( )

protectedvirtual

Reimplemented in rviz::ThirdPersonFollowerViewController, and rviz::XYOrbitViewController.

Definition at line 263 of file orbit_view_controller.cpp.

◆ updateFocalShapeSize()

void rviz::OrbitViewController::updateFocalShapeSize ( )

protected

Calculates the focal shape size and update it's geometry.

Definition at line 313 of file orbit_view_controller.cpp.

◆ yaw()

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

Definition at line 296 of file orbit_view_controller.cpp.

◆ zoom()

void rviz::OrbitViewController::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 324 of file orbit_view_controller.cpp.

Member Data Documentation

◆ distance_property_

FloatProperty* rviz::OrbitViewController::distance_property_

protected

The camera's distance from the focal point.

Definition at line 116 of file orbit_view_controller.h.

◆ dragging_

bool rviz::OrbitViewController::dragging_

protected

Definition at line 123 of file orbit_view_controller.h.

◆ focal_point_property_

VectorProperty* rviz::OrbitViewController::focal_point_property_

protected

The point around which the camera "orbits".

Definition at line 118 of file orbit_view_controller.h.

◆ focal_shape_

Shape* rviz::OrbitViewController::focal_shape_

protected

Definition at line 122 of file orbit_view_controller.h.

◆ focal_shape_fixed_size_property_

BoolProperty* rviz::OrbitViewController::focal_shape_fixed_size_property_

protected

Whether the focal shape size is fixed or not.

Definition at line 119 of file orbit_view_controller.h.

◆ focal_shape_size_property_

FloatProperty* rviz::OrbitViewController::focal_shape_size_property_

protected

The focal shape size.

Definition at line 120 of file orbit_view_controller.h.

◆ fov_property_

FloatProperty* rviz::OrbitViewController::fov_property_

protected

The camera's vertical field of view, in radians.

Definition at line 117 of file orbit_view_controller.h.

◆ pitch_property_

FloatProperty* rviz::OrbitViewController::pitch_property_

protected

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

Definition at line 115 of file orbit_view_controller.h.

◆ yaw_property_

FloatProperty* rviz::OrbitViewController::yaw_property_

protected

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

Definition at line 114 of file orbit_view_controller.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrbitViewController()

◆ ~OrbitViewController()

Member Function Documentation

◆ calculatePitchYawFromPosition()

◆ handleMouseEvent()

◆ lookAt()

◆ mimic()

◆ move()

◆ onInitialize()

◆ onTargetFrameChanged()

◆ pitch()

◆ reset()

◆ update()

◆ updateCamera()

◆ updateFocalShapeSize()

◆ yaw()

◆ zoom()

Member Data Documentation

◆ distance_property_

◆ dragging_

◆ focal_point_property_

◆ focal_shape_

◆ focal_shape_fixed_size_property_

◆ focal_shape_size_property_

◆ fov_property_

◆ pitch_property_

◆ yaw_property_