00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RENDER_POINTS_TEST_H 00031 #define RENDER_POINTS_TEST_H 00032 00033 #include <QWidget> 00034 #include <QTimer> 00035 00036 #include "rviz/ogre_helpers/qt_ogre_render_window.h" 00037 #include "rviz/ogre_helpers/grid.h" 00038 #include "rviz/ogre_helpers/orbit_camera.h" 00039 #include "rviz/ogre_helpers/axes.h" 00040 #include "rviz/ogre_helpers/shape.h" 00041 #include "rviz/ogre_helpers/arrow.h" 00042 #include "rviz/ogre_helpers/point_cloud.h" 00043 #include "rviz/ogre_helpers/billboard_line.h" 00044 #include "rviz/ogre_helpers/render_system.h" 00045 00046 #include <OGRE/OgreRoot.h> 00047 #include <OGRE/OgreSceneManager.h> 00048 #include <OGRE/OgreViewport.h> 00049 #include <OGRE/OgreLight.h> 00050 00051 #include <ros/time.h> 00052 00053 using namespace rviz; 00054 00055 class MyFrame : public QWidget 00056 { 00057 Q_OBJECT 00058 00059 public: 00060 MyFrame(QWidget* parent = 0); 00061 virtual ~MyFrame(); 00062 00063 private Q_SLOTS: 00064 void doRender(); 00065 00066 private: 00067 virtual void mousePressEvent( QMouseEvent* event ); 00068 virtual void mouseReleaseEvent( QMouseEvent* event ); 00069 virtual void mouseMoveEvent( QMouseEvent* event ); 00070 virtual void wheelEvent( QWheelEvent* event ); 00071 00072 Ogre::Root* root_; 00073 RenderSystem* render_system_; 00074 Ogre::SceneManager* scene_manager_; 00075 00076 QtOgreRenderWindow* render_panel_; 00077 00078 Grid* grid_; 00079 CameraBase* camera_; 00080 00081 // Mouse handling 00082 bool left_mouse_down_; 00083 bool middle_mouse_down_; 00084 bool right_mouse_down_; 00085 int mouse_x_; 00086 int mouse_y_; 00087 00088 QTimer render_timer_; 00089 }; 00090 00091 #endif // RENDER_POINTS_TEST_H