standard_camera.h
Go to the documentation of this file.00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds 00002 // Copyright (C) 2010 G. Grisetti, R. Kümmerle, C. Stachniss 00003 // 00004 // This file is part of HOG-Man. 00005 // 00006 // HOG-Man is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // (at your option) any later version. 00010 // 00011 // HOG-Man is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU General Public License 00017 // along with HOG-Man. If not, see <http://www.gnu.org/licenses/>. 00018 00019 #ifndef STANDARD_CAMERA_H 00020 #define STANDARD_CAMERA_H 00021 00022 namespace AISNavigation { 00023 00024 class StandardCamera : public qglviewer::Camera 00025 { 00026 public: 00027 StandardCamera() : _standard(true) {}; 00028 00029 float zNear() const { 00030 if (_standard) 00031 return 0.001; 00032 else 00033 return Camera::zNear(); 00034 } 00035 00036 float zFar() const 00037 { 00038 if (_standard) 00039 return 1000.0; 00040 else 00041 return Camera::zFar(); 00042 } 00043 00044 void toggleMode() {_standard = !_standard;} 00045 bool isStandard() const {return _standard;} 00046 00047 private: 00048 bool _standard; 00049 }; 00050 00051 } // end namespace 00052 00053 #endif