fixed_orientation_ortho_camera.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * 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
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#ifndef RVE_COMMON_TRANSFORMS_FIXED_ORIENTATION_ORTHO_CAMERA_H
#define RVE_COMMON_TRANSFORMS_FIXED_ORIENTATION_ORTHO_CAMERA_H

#include <rve_transformer/camera_transformer.h>
#include <rve_render_client/forwards.h>

#include <ros/message_forward.h>

#include <Eigen/Geometry>

namespace rve_msgs
{
ROS_DECLARE_MESSAGE(MouseEvent);
}

namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(Pose);
}

namespace rve_common_transformers
{

class FixedOrientationOrthoCamera : public rve_transformer::CameraTransformer
{
public:
  FixedOrientationOrthoCamera();
  ~FixedOrientationOrthoCamera();

private:
  void mouseCallback(const rve_msgs::MouseEventConstPtr& evt);

  virtual void onInit();
  virtual void onUpdate();
  virtual void onCameraSet();
  virtual void onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string& path, rve_properties::PropertyChangeType type);

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

  void setPosition( rve_msgs::Vector3 pos );
  void setOrientation( rve_msgs::Quaternion orient );

  void updateCamera();

  Eigen::Quaternionf orientation_;
  Eigen::Vector3f position_rel_target_;
  Eigen::Vector3f position_;

  float view_height_;

  int32_t last_x_;
  int32_t last_y_;

  std::string target_frame_;
  rve_render_client::OrthographicProjectionFactoryPtr camera_projection_;
};
typedef boost::shared_ptr<FixedOrientationOrthoCamera> FixedOrientationOrthoCameraPtr;

}

#endif // RVE_COMMON_TRANSFORMS_FIXED_ORIENTATION_ORTHO_CAMERA_H