focus_tool.cpp
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1 /*
2  * Copyright (c) 2013, Willow Garage, Inc.
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29 
30 #include <OgreRay.h>
31 #include <OgreVector3.h>
32 #include <OgreViewport.h>
33 #include <OgreCamera.h>
34 
36 #include "rviz/load_resource.h"
37 #include "rviz/render_panel.h"
38 #include "rviz/display_context.h"
40 #include "rviz/view_controller.h"
41 
43 
44 #include <sstream>
45 
46 namespace rviz
47 {
48 
50  : Tool()
51 {
52 }
53 
55 {
56 }
57 
59 {
61  hit_cursor_ = makeIconCursor( "package://rviz/icons/crosshair.svg" );
62 }
63 
65 {
66 }
67 
69 {
70 }
71 
73 {
74  int flags = 0;
75 
76  Ogre::Vector3 pos;
77  bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos );
78  setCursor( success ? hit_cursor_ : std_cursor_ );
79 
80  if ( !success )
81  {
82  Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay(
83  (float)event.x / (float)event.viewport->getActualWidth(),
84  (float)event.y / (float)event.viewport->getActualHeight() );
85 
86  pos = mouse_ray.getPoint(1.0);
87  setStatus( "<b>Left-Click:</b> Look in this direction." );
88  }
89  else
90  {
91  std::ostringstream s;
92  s << "<b>Left-Click:</b> Focus on this point.";
93  s.precision(3);
94  s << " [" << pos.x << "," << pos.y << "," << pos.z << "]";
95  setStatus( s.str().c_str() );
96  }
97 
98  if( event.leftUp() )
99  {
100  if ( event.panel->getViewController() )
101  {
102  event.panel->getViewController()->lookAt( pos );
103  }
104  flags |= Finished;
105  }
106 
107  return flags;
108 }
109 
110 }
111 
ViewController * getViewController()
Definition: render_panel.h:88
QCursor makeIconCursor(QString url, bool fill_cache)
virtual void onInitialize()
Definition: focus_tool.cpp:58
XmlRpcServer s
QCursor getDefaultCursor(bool fill_cache)
virtual SelectionManager * getSelectionManager() const =0
Return a pointer to the SelectionManager.
virtual void deactivate()
Definition: focus_tool.cpp:68
virtual void activate()
Definition: focus_tool.cpp:64
virtual ~FocusTool()
Definition: focus_tool.cpp:54
DisplayContext * context_
Definition: tool.h:175
QCursor std_cursor_
Definition: focus_tool.h:56
void setStatus(const QString &message)
Definition: tool.cpp:97
void setCursor(const QCursor &cursor)
Set the cursor for this tool.
Definition: tool.cpp:69
QCursor hit_cursor_
Definition: focus_tool.h:57
bool get3DPoint(Ogre::Viewport *viewport, const int x, const int y, Ogre::Vector3 &result_point)
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
virtual int processMouseEvent(ViewportMouseEvent &event)
Definition: focus_tool.cpp:72


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat Apr 27 2019 02:33:41