#include <cartesian_control.h>

Public Types
enum	StatusT { HIDDEN, IDLE, ROTATING, DRAGGING }
Public Member Functions
	CartesianControl (Ogre::SceneNode scene_node, rviz::VisualizationManager vis_manager)
float	getClosestIntersection (Ogre::Ray mouse_ray)
Ogre::Quaternion	getControlsOrientation ()
Ogre::Vector3	getControlsPosition ()
bool	getFixedControlsOrientation ()
Ogre::Quaternion	getOrientation ()
geometry_msgs::PoseStamped	getPose ()
Ogre::Vector3	getPosition ()
void	hide ()
void	mouseDown (Ogre::Ray mouse_ray)
void	mouseMove (Ogre::Ray mouse_ray)
void	mouseUp (Ogre::Ray mouse_ray)
void	setControlsOrientation (Ogre::Quaternion orientation)
void	setControlsPosition (Ogre::Vector3 position)
void	setFixedControlsOrientation (bool use)
void	setOrientation (Ogre::Quaternion orientation)
void	setPosition (Ogre::Vector3 position)
void	show ()
void	update ()
virtual	~CartesianControl ()
Static Public Attributes
static const float	NO_INTERSECTION = 99999
Protected Types
enum	SideT { POS, NEG }
Protected Member Functions
void	addControls (unsigned axis)
rviz::Shape *	addDragBox (Ogre::Vector3 axis)
void	addRing (Ogre::Vector3 axis1, Ogre::Vector3 axis2, Ogre::MaterialPtr material, unsigned render_queue_group)
void	addRingSegment (Ogre::Vector3 axis1, Ogre::Vector3 axis2, Ogre::MaterialPtr material, unsigned render_queue_group, float a_min, float a_max)
Ogre::Vector3	getAxis (unsigned axis)
bool	getClosestBox (Ogre::Ray mouse_ray, Ogre::Vector3 &nearest_intersection_3d, float &nearest_intersection_1d, float &nearest_t, unsigned &nearest_axis, SideT &nearest_side)
bool	getClosestPosition (Ogre::Ray mouse_ray, unsigned axis, float &pos)
bool	getClosestRing (Ogre::Ray mouse_ray, Ogre::Vector3 &nearest_intersection_3d, Ogre::Vector2 &nearest_intersection_2d, float &nearest_t, unsigned &nearest_axis)
bool	intersectBox (Ogre::Ray mouse_ray, unsigned axis, SideT side, Ogre::Vector3 &intersection_3d, float &intersection_1d, float &ray_t)
bool	intersectPlane (Ogre::Ray mouse_ray, unsigned axis, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t)
bool	intersectRing (Ogre::Ray mouse_ray, unsigned axis, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t, float inner_radius=HANDLE_RADIUS_INNER, float outer_radius=HANDLE_RADIUS_OUTER)
Protected Attributes
Ogre::SceneNode *	controls_node_
std::map< unsigned, std::map < SideT, rviz::Shape * > >	drag_boxes_
bool	fixed_controls_orientation_
double	last_angle_
int	last_axis_
double	last_drag_pos_
SideT	last_drag_side_
Ogre::SceneNode *	main_node_
rviz::Shape *	marker_
Ogre::Quaternion	orientation_
Ogre::Vector3	position_
std::vector < rviz_interaction_tools::MeshObject * >	ring_segments_
StatusT	status_
rviz::VisualizationManager *	vis_manager_
Static Protected Attributes
static const float	HANDLE_ALPHA = 0.5
static const float	HANDLE_RADIUS_INNER = 0.10
static const float	HANDLE_RADIUS_OUTER = 0.13
static const float	HANDLE_SIZE = 0.03

Detailed Description

Definition at line 58 of file cartesian_control.h.

Member Enumeration Documentation

enum rviz_interaction_tools::CartesianControl::SideT [protected]

Enumerator:

POS
NEG

Definition at line 117 of file cartesian_control.h.

enum rviz_interaction_tools::CartesianControl::StatusT

Enumerator:

HIDDEN
IDLE
ROTATING
DRAGGING

Definition at line 64 of file cartesian_control.h.

Constructor & Destructor Documentation

rviz_interaction_tools::CartesianControl::CartesianControl	(	Ogre::SceneNode *	scene_node,
		rviz::VisualizationManager *	vis_manager
	)

Definition at line 54 of file cartesian_control.cpp.

rviz_interaction_tools::CartesianControl::~CartesianControl ( ) [virtual]

Definition at line 74 of file cartesian_control.cpp.

Member Function Documentation

void rviz_interaction_tools::CartesianControl::addControls ( unsigned axis ) [protected]

Definition at line 86 of file cartesian_control.cpp.

rviz::Shape * rviz_interaction_tools::CartesianControl::addDragBox ( Ogre::Vector3 axis ) [protected]

Definition at line 105 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::addRing	(	Ogre::Vector3	axis1,
		Ogre::Vector3	axis2,
		Ogre::MaterialPtr	material,
		unsigned	render_queue_group
	)		`[protected]`

Definition at line 126 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::addRingSegment	(	Ogre::Vector3	axis1,
		Ogre::Vector3	axis2,
		Ogre::MaterialPtr	material,
		unsigned	render_queue_group,
		float	a_min,
		float	a_max
	)		`[protected]`

Definition at line 137 of file cartesian_control.cpp.

Ogre::Vector3 rviz_interaction_tools::CartesianControl::getAxis ( unsigned axis ) [protected]

Definition at line 549 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::getClosestBox	(	Ogre::Ray	mouse_ray,
		Ogre::Vector3 &	nearest_intersection_3d,
		float &	nearest_intersection_1d,
		float &	nearest_t,
		unsigned &	nearest_axis,
		SideT &	nearest_side
	)		`[protected]`

Definition at line 481 of file cartesian_control.cpp.

float rviz_interaction_tools::CartesianControl::getClosestIntersection ( Ogre::Ray mouse_ray )

Definition at line 240 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::getClosestPosition	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		float &	pos
	)		`[protected]`

Definition at line 567 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::getClosestRing	(	Ogre::Ray	mouse_ray,
		Ogre::Vector3 &	nearest_intersection_3d,
		Ogre::Vector2 &	nearest_intersection_2d,
		float &	nearest_t,
		unsigned &	nearest_axis
	)		`[protected]`

Definition at line 413 of file cartesian_control.cpp.

Ogre::Quaternion rviz_interaction_tools::CartesianControl::getControlsOrientation ( )

Definition at line 231 of file cartesian_control.cpp.

Ogre::Vector3 rviz_interaction_tools::CartesianControl::getControlsPosition ( )

Definition at line 226 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::getFixedControlsOrientation ( ) [inline]

Definition at line 89 of file cartesian_control.h.

Ogre::Quaternion rviz_interaction_tools::CartesianControl::getOrientation ( )

Definition at line 211 of file cartesian_control.cpp.

geometry_msgs::PoseStamped rviz_interaction_tools::CartesianControl::getPose ( )

Definition at line 588 of file cartesian_control.cpp.

Ogre::Vector3 rviz_interaction_tools::CartesianControl::getPosition ( )

Definition at line 206 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::hide ( )

Definition at line 184 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::intersectBox	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		SideT	side,
		Ogre::Vector3 &	intersection_3d,
		float &	intersection_1d,
		float &	ray_t
	)		`[protected]`

Definition at line 513 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::intersectPlane	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t
	)		`[protected]`

Definition at line 450 of file cartesian_control.cpp.

bool rviz_interaction_tools::CartesianControl::intersectRing	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t,
		float	inner_radius = `HANDLE_RADIUS_INNER`,
		float	outer_radius = `HANDLE_RADIUS_OUTER`
	)		`[protected]`

Definition at line 440 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::mouseDown ( Ogre::Ray mouse_ray )

Definition at line 340 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::mouseMove ( Ogre::Ray mouse_ray )

Definition at line 262 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::mouseUp ( Ogre::Ray mouse_ray )

Definition at line 395 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::setControlsOrientation ( Ogre::Quaternion orientation )

Definition at line 221 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::setControlsPosition ( Ogre::Vector3 position )

Definition at line 216 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::setFixedControlsOrientation ( bool use ) [inline]

Definition at line 88 of file cartesian_control.h.

void rviz_interaction_tools::CartesianControl::setOrientation ( Ogre::Quaternion orientation )

Definition at line 201 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::setPosition ( Ogre::Vector3 position )

Definition at line 196 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::show ( )

Definition at line 178 of file cartesian_control.cpp.

void rviz_interaction_tools::CartesianControl::update ( void )

Definition at line 236 of file cartesian_control.cpp.

Member Data Documentation

Ogre::SceneNode* rviz_interaction_tools::CartesianControl::controls_node_ [protected]

Definition at line 164 of file cartesian_control.h.

std::map< unsigned, std::map<SideT, rviz::Shape*> > rviz_interaction_tools::CartesianControl::drag_boxes_ [protected]

Definition at line 167 of file cartesian_control.h.

bool rviz_interaction_tools::CartesianControl::fixed_controls_orientation_ [protected]

Definition at line 161 of file cartesian_control.h.

const float rviz_interaction_tools::CartesianControl::HANDLE_ALPHA = 0.5 [static, protected]

Definition at line 115 of file cartesian_control.h.

const float rviz_interaction_tools::CartesianControl::HANDLE_RADIUS_INNER = 0.10 [static, protected]

Definition at line 113 of file cartesian_control.h.

const float rviz_interaction_tools::CartesianControl::HANDLE_RADIUS_OUTER = 0.13 [static, protected]

Definition at line 112 of file cartesian_control.h.

const float rviz_interaction_tools::CartesianControl::HANDLE_SIZE = 0.03 [static, protected]

Definition at line 114 of file cartesian_control.h.

double rviz_interaction_tools::CartesianControl::last_angle_ [protected]

Definition at line 175 of file cartesian_control.h.

int rviz_interaction_tools::CartesianControl::last_axis_ [protected]

Definition at line 178 of file cartesian_control.h.

double rviz_interaction_tools::CartesianControl::last_drag_pos_ [protected]

Definition at line 176 of file cartesian_control.h.

SideT rviz_interaction_tools::CartesianControl::last_drag_side_ [protected]

Definition at line 177 of file cartesian_control.h.

Ogre::SceneNode* rviz_interaction_tools::CartesianControl::main_node_ [protected]

Definition at line 163 of file cartesian_control.h.

rviz::Shape* rviz_interaction_tools::CartesianControl::marker_ [protected]

Definition at line 171 of file cartesian_control.h.

const float rviz_interaction_tools::CartesianControl::NO_INTERSECTION = 99999 [static]

Definition at line 62 of file cartesian_control.h.

Ogre::Quaternion rviz_interaction_tools::CartesianControl::orientation_ [protected]

Definition at line 181 of file cartesian_control.h.

Ogre::Vector3 rviz_interaction_tools::CartesianControl::position_ [protected]

Definition at line 180 of file cartesian_control.h.

std::vector<rviz_interaction_tools::MeshObject*> rviz_interaction_tools::CartesianControl::ring_segments_ [protected]

Definition at line 169 of file cartesian_control.h.

StatusT rviz_interaction_tools::CartesianControl::status_ [protected]

Definition at line 173 of file cartesian_control.h.

rviz::VisualizationManager* rviz_interaction_tools::CartesianControl::vis_manager_ [protected]

Definition at line 159 of file cartesian_control.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation