view_controller.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_VIEW_CONTROLLER_H
#define RVIZ_VIEW_CONTROLLER_H

#include <string>

#include <QCursor>

#include "rviz/properties/property.h"

class QKeyEvent;

namespace Ogre
{
class Camera;
class SceneNode;
class Vector3;
class Quaternion;
}

namespace rviz
{
class DisplayContext;
class EnumProperty;
class RenderPanel;
class ViewportMouseEvent;
class FloatProperty;
class BoolProperty;

class ViewController: public Property
{
Q_OBJECT
public:
  ViewController();
  virtual ~ViewController();

  void initialize( DisplayContext* context );

  static QString formatClassId( const QString& class_id );

  virtual QVariant getViewData( int column, int role ) const;

  virtual Qt::ItemFlags getViewFlags( int column ) const;

  void activate();

  virtual void update(float dt, float ros_dt)
  {
    (void) dt;
    (void) ros_dt;
  }

  virtual void handleMouseEvent(ViewportMouseEvent& evt)
  {
    (void) evt;
  }

  virtual void handleKeyEvent( QKeyEvent* event, RenderPanel* panel );

  void lookAt( float x, float y, float z );

  virtual void lookAt( const Ogre::Vector3& point )
  {
    (void) point;
  }

  virtual void reset() = 0;

  virtual void mimic( ViewController* source_view )
  {
    (void) source_view;
  }

  virtual void transitionFrom( ViewController* previous_view )
  {
    (void) previous_view;
  }

  void emitConfigChanged();

  Ogre::Camera* getCamera() const { return camera_; }

  virtual QString getClassId() const { return class_id_; }

  virtual void setClassId( const QString& class_id ) { class_id_ = class_id; }

  virtual void load( const Config& config );
  virtual void save( Config config ) const;

  bool isActive() const { return is_active_; }

  virtual QCursor getCursor() { return cursor_; }

Q_SIGNALS:
  void configChanged();

private Q_SLOTS:

  void updateNearClipDistance();
  void updateStereoProperties();
  void updateInvertZAxis();

protected:
  virtual void onInitialize() {}

  virtual void onActivate() {}

  // choose a cursor from the standard set
  enum CursorType{ Default, Rotate2D, Rotate3D, MoveXY, MoveZ, Zoom, Crosshair };
  void setCursor( CursorType cursor_type );

  // set a custom cursor
  void setCursor( QCursor cursor ) { cursor_=cursor; }

  DisplayContext* context_;
  Ogre::Camera* camera_;

  bool is_active_;

  // this cursor will be displayed when the mouse is within the
  // window controlled by this view controller
  // use SetCursor to modify.
  QCursor cursor_;

  FloatProperty* near_clip_property_;
  BoolProperty* stereo_enable_;
  BoolProperty* stereo_eye_swap_;
  FloatProperty* stereo_eye_separation_;
  FloatProperty* stereo_focal_distance_;
  BoolProperty* invert_z_;

  void setStatus( const QString & message );

private:

  EnumProperty* type_property_;
  QString class_id_;

  // Default cursors for the most common actions
  QMap<CursorType,QCursor> standard_cursors_;
};

} // end namespace rviz

#endif // RVIZ_VIEW_CONTROLLER_H