focus_tool.cpp

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/*
 * Copyright (c) 2013, 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <OgreRay.h>
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreViewport.h>
#include <OgreCamera.h>
 
#include <rviz/viewport_mouse_event.h>
#include <rviz/load_resource.h>
#include <rviz/render_panel.h>
#include <rviz/display_context.h>
#include <rviz/selection/selection_manager.h>
#include <rviz/view_controller.h>
 
#include <rviz/default_plugin/tools/focus_tool.h>
 
#include <sstream>
 
namespace rviz
{
FocusTool::FocusTool() : Tool()
{
}
 
FocusTool::~FocusTool()
{
}
 
void FocusTool::onInitialize()
{
  std_cursor_ = getDefaultCursor();
  hit_cursor_ = makeIconCursor("package://rviz/icons/crosshair.svg");
}
 
void FocusTool::activate()
{
}
 
void FocusTool::deactivate()
{
}
 
int FocusTool::processMouseEvent(ViewportMouseEvent& event)
{
  int flags = 0;
 
  Ogre::Vector3 pos;
  bool success = context_->getSelectionManager()->get3DPoint(event.viewport, event.x, event.y, pos);
  setCursor(success ? hit_cursor_ : std_cursor_);
 
  if (!success)
  {
    Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
        (float)event.x / (float)event.viewport->getActualWidth(),
        (float)event.y / (float)event.viewport->getActualHeight());
 
    pos = mouse_ray.getPoint(1.0);
    setStatus("<b>Left-Click:</b> Look in this direction.");
  }
  else
  {
    std::ostringstream s;
    s << "<b>Left-Click:</b> Focus on this point.";
    s.precision(3);
    s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
    setStatus(s.str().c_str());
  }
 
  if (event.leftUp())
  {
    if (event.panel->getViewController())
    {
      event.panel->getViewController()->lookAt(pos);
    }
    flags |= Finished;
  }
 
  return flags;
}
 
} // namespace rviz
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::FocusTool, rviz::Tool)