camera_base.cpp

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/*
 * Copyright (c) 2008, 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */
 
#include "camera_base.h"
 
#include <OgreCamera.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
 
#include <stdint.h>
#include <sstream>
 
namespace rviz
{
CameraBase::CameraBase(Ogre::SceneManager* scene_manager)
  : scene_manager_(scene_manager), relative_node_(nullptr)
{
  std::stringstream ss;
  static uint32_t count = 0;
  ss << "CameraBase" << count++;
  camera_ = scene_manager_->createCamera(ss.str());
}
 
CameraBase::~CameraBase()
{
  scene_manager_->destroyCamera(camera_);
}
 
void CameraBase::setRelativeNode(Ogre::SceneNode* node)
{
  relative_node_ = node;
 
  relativeNodeChanged();
 
  update();
}
 
void CameraBase::setPosition(const Ogre::Vector3& position)
{
  setPosition(position.x, position.y, position.z);
}
 
void CameraBase::setOrientation(const Ogre::Quaternion& orientation)
{
  setOrientation(orientation.x, orientation.y, orientation.z, orientation.w);
}
 
} // namespace rviz