move_tool.cpp

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/*
 * Copyright (c) 2008, 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 "move_tool.h"
#include "visualization_manager.h"
#include "render_panel.h"
#include "viewport_mouse_event.h"
#include "selection/selection_manager.h"
#include "view_controller.h"

namespace rviz
{

MoveTool::MoveTool( const std::string& name, char shortcut_key, VisualizationManager* manager )
: Tool( name, shortcut_key, manager )
{

}

int MoveTool::processMouseEvent( ViewportMouseEvent& event )
{
  if (event.panel->getViewController())
  {
    event.panel->getViewController()->handleMouseEvent(event);
  }

  return 0;
}

int MoveTool::processKeyEvent( QKeyEvent* event, RenderPanel* panel )
{
  if( event->key() == Qt::Key_F &&
      panel->getViewport() &&
      manager_->getSelectionManager() &&
      manager_->getCurrentViewController() )
  {
    QPoint mouse_rel_panel = panel->mapFromGlobal( QCursor::pos() );
    Ogre::Vector3 point_rel_world; // output of get3DPoint().
    if( manager_->getSelectionManager()->get3DPoint( panel->getViewport(),
                                                     mouse_rel_panel.x(), mouse_rel_panel.y(),
                                                     point_rel_world ))
    {
      manager_->getCurrentViewController()->lookAt( point_rel_world );
    }
  }

  if( event->key() == Qt::Key_Z &&
      manager_->getCurrentViewController() )
  {
    manager_->getCurrentViewController()->reset();
  }

  return Render;
}

}