orbit_view_controller.h

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/*
 * Copyright (c) 2009, 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
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 * 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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 */
 
#ifndef RVIZ_ORBIT_VIEW_CONTROLLER_H
#define RVIZ_ORBIT_VIEW_CONTROLLER_H
 
#include <rviz/ogre_helpers/ogre_vector.h>
 
#include <QCursor>
 
#include <rviz/frame_position_tracking_view_controller.h>
 
namespace rviz
{
class BoolProperty;
class FloatProperty;
class Shape;
class SceneNode;
class VectorProperty;
 
class OrbitViewController : public FramePositionTrackingViewController
{
  Q_OBJECT
public:
  OrbitViewController();
  ~OrbitViewController() override;
 
  void onInitialize() override;
 
  void zoom(float amount);
  void yaw(float angle);
  void pitch(float angle);
  void move(float x, float y, float z);
 
  void handleMouseEvent(ViewportMouseEvent& evt) override;
 
  void lookAt(const Ogre::Vector3& point) override;
 
  void reset() override;
 
  void mimic(ViewController* source_view) override;
 
protected:
  void update(float dt, float ros_dt) override;
  void onTargetFrameChanged(const Ogre::Vector3& old_reference_position,
                            const Ogre::Quaternion& old_reference_orientation) override;
 
  void calculatePitchYawFromPosition(const Ogre::Vector3& position);
 
  void updateFocalShapeSize();
 
  virtual void updateCamera();
 
  FloatProperty* yaw_property_;          
  FloatProperty* pitch_property_;        
  FloatProperty* distance_property_;     
  FloatProperty* fov_property_;          
  VectorProperty* focal_point_property_; 
  BoolProperty* focal_shape_fixed_size_property_; 
  FloatProperty* focal_shape_size_property_;      
 
  Shape* focal_shape_;
  bool dragging_;
};
 
} // namespace rviz
 
#endif // RVIZ_VIEW_CONTROLLER_H