00001 /* 00002 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping 00003 * Framework Based on Octrees 00004 * http://octomap.github.io 00005 * 00006 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg 00007 * All rights reserved. License for the viewer octovis: GNU GPL v2 00008 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt 00009 * 00010 * 00011 * This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, but 00017 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 00018 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 00019 * for more details. 00020 * 00021 * You should have received a copy of the GNU General Public License 00022 * along with this program. If not, see http://www.gnu.org/licenses/. 00023 */ 00024 00025 #ifndef CAMERAFOLLOWMODE_H_ 00026 #define CAMERAFOLLOWMODE_H_ 00027 00028 #include "SceneObject.h" 00029 00030 class CameraFollowMode : public QObject { 00031 Q_OBJECT 00032 00033 public: 00034 CameraFollowMode(octomap::ScanGraph *graph = NULL); 00035 virtual ~CameraFollowMode(); 00036 void setScanGraph(octomap::ScanGraph *graph); 00037 00038 public slots: 00039 void jumpToFrame(unsigned int frame); 00040 void cameraPathStopped(int id); 00041 void cameraPathFrameChanged(int id, int current_camera_frame); 00042 void play(); 00043 void pause(); 00044 void clearCameraPath(); 00045 void saveToCameraPath(); 00046 void addToCameraPath(); 00047 void removeFromCameraPath(); 00048 void followCameraPath(); 00049 void followRobotPath(); 00050 00051 signals: 00052 void changeCamPose(const octomath::Pose6D& pose); 00053 void interpolateCamPose(const octomath::Pose6D& old_pose, const octomath::Pose6D& new_pose, double u); 00054 void stopped(); 00055 void frameChanged(unsigned int frame); 00056 void deleteCameraPath(int id); 00057 void removeFromCameraPath(int id, int frame); 00058 void updateCameraPath(int id, int frame); 00059 void appendToCameraPath(int id, const octomath::Pose6D& pose); 00060 void appendCurrentToCameraPath(int id); 00061 void addCurrentToCameraPath(int id, int frame); 00062 void playCameraPath(int id, int start_frame); 00063 void stopCameraPath(int id); 00064 void jumpToCamFrame(int id, int frame); 00065 void changeNumberOfFrames(unsigned count); 00066 void scanGraphAvailable(bool available); 00067 00068 00069 protected: 00070 octomap::ScanGraph *m_scan_graph; 00071 unsigned int m_current_scan; 00072 unsigned int m_current_cam_frame; 00073 unsigned int m_number_cam_frames; 00074 unsigned int m_start_frame; 00075 bool m_followRobotTrajectory; 00076 }; 00077 00078 #endif /* CAMERAFOLLOWMODE_H_ */