OrbitOrientedViewController.cpp
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #include "OrbitOrientedViewController.h"
00029 
00030 #include <OgreCamera.h>
00031 #include <OgreQuaternion.h>
00032 #include <OgreSceneManager.h>
00033 #include <OgreSceneNode.h>
00034 #include <OgreVector3.h>
00035 #include <OgreViewport.h>
00036 
00037 #include "rviz/properties/float_property.h"
00038 #include "rviz/properties/vector_property.h"
00039 #include "rviz/ogre_helpers/shape.h"
00040 
00041 namespace rtabmap_ros
00042 {
00043 
00044 void OrbitOrientedViewController::updateCamera()
00045 {
00046         float distance = distance_property_->getFloat();
00047         float yaw = yaw_property_->getFloat();
00048         float pitch = pitch_property_->getFloat();
00049 
00050         Ogre::Matrix3 rot;
00051         reference_orientation_.ToRotationMatrix(rot);
00052         Ogre::Radian rollTarget, pitchTarget, yawTarget;
00053         rot.ToEulerAnglesXYZ(yawTarget, pitchTarget, rollTarget);
00054 
00055         yaw += rollTarget.valueRadians();
00056         pitch += pitchTarget.valueRadians();
00057 
00058         Ogre::Vector3 focal_point = focal_point_property_->getVector();
00059 
00060         float x = distance * cos( yaw ) * cos( pitch ) + focal_point.x;
00061         float y = distance * sin( yaw ) * cos( pitch ) + focal_point.y;
00062         float z = distance *              sin( pitch ) + focal_point.z;
00063 
00064         Ogre::Vector3 pos( x, y, z );
00065 
00066         camera_->setPosition(pos);
00067         camera_->setFixedYawAxis(true, target_scene_node_->getOrientation() * Ogre::Vector3::UNIT_Z);
00068         camera_->setDirection(target_scene_node_->getOrientation() * (focal_point - pos));
00069 
00070         focal_shape_->setPosition( focal_point );
00071 }
00072 
00073 }
00074 
00075 #include <pluginlib/class_list_macros.h>
00076 PLUGINLIB_EXPORT_CLASS( rtabmap_ros::OrbitOrientedViewController, rviz::ViewController )


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Sun Jul 24 2016 03:49:08