pose_tool.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
 * 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.
 */
 
#include <OgrePlane.h>
#include <OgreRay.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>
 
#include <rviz/geometry.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/load_resource.h>
#include <rviz/render_panel.h>
 
#include <rviz/default_plugin/tools/pose_tool.h>
 
namespace rviz
{
PoseTool::PoseTool() : Tool(), arrow_(nullptr)
{
}
 
PoseTool::~PoseTool()
{
  delete arrow_;
}
 
void PoseTool::onInitialize()
{
  arrow_ = new Arrow(scene_manager_, nullptr, 2.0f, 0.2f, 0.5f, 0.35f);
  arrow_->setColor(0.0f, 1.0f, 0.0f, 1.0f);
  arrow_->getSceneNode()->setVisible(false);
}
 
void PoseTool::activate()
{
  setStatus("Click and drag mouse to set position/orientation.");
  state_ = Position;
}
 
void PoseTool::deactivate()
{
  arrow_->getSceneNode()->setVisible(false);
}
 
int PoseTool::processMouseEvent(ViewportMouseEvent& event)
{
  int flags = 0;
 
  if (event.leftDown())
  {
    ROS_ASSERT(state_ == Position);
 
    Ogre::Vector3 intersection;
    Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
    if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x, event.y, intersection))
    {
      pos_ = intersection;
      arrow_->setPosition(pos_);
 
      state_ = Orientation;
      flags |= Render;
    }
  }
  else if (event.type == QEvent::MouseMove && event.left())
  {
    if (state_ == Orientation)
    {
      // compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
      if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x, event.y, cur_pos))
      {
        double angle = atan2(cur_pos.y - pos_.y, cur_pos.x - pos_.x);
 
        arrow_->getSceneNode()->setVisible(true);
 
        // we need base_orient, since the arrow goes along the -z axis by default (for historical
        // reasons)
        Ogre::Quaternion orient_x =
            Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y);
 
        arrow_->setOrientation(Ogre::Quaternion(Ogre::Radian(angle), Ogre::Vector3::UNIT_Z) * orient_x);
 
        flags |= Render;
      }
    }
  }
  else if (event.leftUp())
  {
    if (state_ == Orientation)
    {
      // compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
      if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x, event.y, cur_pos))
      {
        double angle = atan2(cur_pos.y - pos_.y, cur_pos.x - pos_.x);
 
        onPoseSet(pos_.x, pos_.y, angle);
 
        flags |= (Finished | Render);
      }
    }
  }
 
  return flags;
}
 
} // namespace rviz