#include <frame_relative_camera_controller.h>

Inheritance diagram for rve_common_transformers::FrameRelativeCameraController:

Public Member Functions
	FrameRelativeCameraController ()
virtual const Eigen::Quaternionf &	getAbsoluteOrientation () const
virtual const Eigen::Vector3f &	getAbsolutePosition () const
const std::string &	getReferenceFrame () const
virtual const Eigen::Quaternionf &	getRelativeOrientation () const
virtual const Eigen::Vector3f &	getRelativePosition () const
virtual void	setReferenceFrame (const std::string &frame_id)
virtual void	setRelativeOrientation (const Eigen::Quaternionf &orient)
virtual void	setRelativePosition (const Eigen::Vector3f &pos)
virtual	~FrameRelativeCameraController ()
Protected Member Functions
virtual void	onCameraSet ()
virtual void	onInit ()
virtual void	onUpdate ()
virtual void	updateRelativePose ()
Private Attributes
Eigen::Quaternionf	absolute_orientation_
Eigen::Vector3f	absolute_position_
std::string	reference_frame_id_
Eigen::Quaternionf	relative_orientation_
Eigen::Vector3f	relative_position_

Detailed Description

Superclass for camera controllers which maintain the camera position relative to a TF frame. Can be used as is to keep a camera at a fixed pose relative to a TF frame.

Definition at line 43 of file frame_relative_camera_controller.h.

Constructor & Destructor Documentation

rve_common_transformers::FrameRelativeCameraController::FrameRelativeCameraController ( )

Definition at line 40 of file frame_relative_camera_controller.cpp.

virtual rve_common_transformers::FrameRelativeCameraController::~FrameRelativeCameraController ( ) [inline, virtual]

Definition at line 47 of file frame_relative_camera_controller.h.

Member Function Documentation

virtual const Eigen::Quaternionf& rve_common_transformers::FrameRelativeCameraController::getAbsoluteOrientation ( ) const [inline, virtual]

Definition at line 61 of file frame_relative_camera_controller.h.

virtual const Eigen::Vector3f& rve_common_transformers::FrameRelativeCameraController::getAbsolutePosition ( ) const [inline, virtual]

Definition at line 60 of file frame_relative_camera_controller.h.

const std::string& rve_common_transformers::FrameRelativeCameraController::getReferenceFrame ( ) const [inline]

Definition at line 50 of file frame_relative_camera_controller.h.

virtual const Eigen::Quaternionf& rve_common_transformers::FrameRelativeCameraController::getRelativeOrientation ( ) const [inline, virtual]

Definition at line 58 of file frame_relative_camera_controller.h.

virtual const Eigen::Vector3f& rve_common_transformers::FrameRelativeCameraController::getRelativePosition ( ) const [inline, virtual]

Definition at line 54 of file frame_relative_camera_controller.h.

void rve_common_transformers::FrameRelativeCameraController::onCameraSet ( ) [protected, virtual]

Set the position and orientation of the new camera.

Implements rve_transformer::CameraTransformer.

Reimplemented in rve_common_transformers::OrbitCamera.

Definition at line 80 of file frame_relative_camera_controller.cpp.

void rve_common_transformers::FrameRelativeCameraController::onInit ( ) [protected, virtual]

This class doesn't have any initialization to do.

Implements rve_transformer::Transformer.

Reimplemented in rve_common_transformers::OrbitCamera.

Definition at line 51 of file frame_relative_camera_controller.cpp.

void rve_common_transformers::FrameRelativeCameraController::onUpdate ( ) [protected, virtual]

Read the latest pose data from TF to update the absolute pose of the camera.

Implements rve_transformer::Transformer.

Definition at line 55 of file frame_relative_camera_controller.cpp.

void rve_common_transformers::FrameRelativeCameraController::setReferenceFrame ( const std::string & frame_id ) [virtual]

Definition at line 46 of file frame_relative_camera_controller.cpp.

virtual void rve_common_transformers::FrameRelativeCameraController::setRelativeOrientation ( const Eigen::Quaternionf & orient ) [inline, virtual]

Set the orientation of the camera relative to the reference frame.

Definition at line 57 of file frame_relative_camera_controller.h.

virtual void rve_common_transformers::FrameRelativeCameraController::setRelativePosition ( const Eigen::Vector3f & pos ) [inline, virtual]

Set the position of the camera relative to the reference frame.

Definition at line 53 of file frame_relative_camera_controller.h.

virtual void rve_common_transformers::FrameRelativeCameraController::updateRelativePose ( ) [inline, protected, virtual]

Override to recompute relative position and orientation at update time, if necessary. Called by onUpdate().

Reimplemented in rve_common_transformers::OrbitCamera.

Definition at line 66 of file frame_relative_camera_controller.h.