focus_tool.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2013, 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 #include <OGRE/OgreRay.h>
00031 #include <OGRE/OgreVector3.h>
00032 
00033 #include "rviz/viewport_mouse_event.h"
00034 #include "rviz/load_resource.h"
00035 #include "rviz/render_panel.h"
00036 #include "rviz/display_context.h"
00037 #include "rviz/selection/selection_manager.h"
00038 #include "rviz/view_controller.h"
00039 
00040 #include "rviz/default_plugin/tools/focus_tool.h"
00041 
00042 #include <sstream>
00043 
00044 namespace rviz
00045 {
00046 
00047 FocusTool::FocusTool()
00048   : Tool()
00049 {
00050 }
00051 
00052 FocusTool::~FocusTool()
00053 {
00054 }
00055 
00056 void FocusTool::onInitialize()
00057 {
00058   std_cursor_ = getDefaultCursor();
00059   hit_cursor_ = makeIconCursor( "package://rviz/icons/crosshair.svg" );
00060 }
00061 
00062 void FocusTool::activate()
00063 {
00064 }
00065 
00066 void FocusTool::deactivate()
00067 {
00068 }
00069 
00070 int FocusTool::processMouseEvent( ViewportMouseEvent& event )
00071 {
00072   int flags = 0;
00073 
00074   Ogre::Vector3 pos;
00075   bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos );
00076   setCursor( success ? hit_cursor_ : std_cursor_ );
00077 
00078   if ( !success )
00079   {
00080     Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
00081         (float)event.x / (float)event.viewport->getActualWidth(),
00082         (float)event.y / (float)event.viewport->getActualHeight() );
00083 
00084     pos = mouse_ray.getPoint(1.0);
00085     setStatus( "<b>Left-Click:</b> Look in this direction." );
00086   }
00087   else
00088   {
00089     std::ostringstream s;
00090     s << "<b>Left-Click:</b> Focus on this point.";
00091     s.precision(3);
00092     s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
00093     setStatus( s.str().c_str() );
00094   }
00095 
00096   if( event.leftUp() )
00097   {
00098     if ( event.panel->getViewController() )
00099     {
00100       event.panel->getViewController()->lookAt( pos );
00101     }
00102     flags |= Finished;
00103   }
00104 
00105   return flags;
00106 }
00107 
00108 }
00109 
00110 #include <pluginlib/class_list_macros.h>
00111 PLUGINLIB_EXPORT_CLASS( rviz::FocusTool, rviz::Tool )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Oct 6 2014 07:26:35