orbit_camera.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * 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"
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#ifndef RVE_COMMON_TRANSFORMERS_ORBIT_CAMERA_H
#define RVE_COMMON_TRANSFORMERS_ORBIT_CAMERA_H

#include <rve_common_transformers/frame_relative_camera_controller.h>
#include <rve_render_client/forwards.h>

#include <ros/message_forward.h>

#include <Eigen/Geometry>

namespace rve_msgs
{
ROS_DECLARE_MESSAGE(MouseEvent);
}

namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(Pose);
}

namespace rve_common_transformers
{

class OrbitCamera : public FrameRelativeCameraController
{
public:
  OrbitCamera();
  virtual ~OrbitCamera() {}

private:
  void mouseCallback(const rve_msgs::MouseEventConstPtr& evt);
  void setPoseCallback(const geometry_msgs::PoseConstPtr& new_pose);

  virtual void onInit();

  virtual void updateRelativePose();

  virtual void onCameraSet();
  virtual void onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string& path, rve_properties::PropertyChangeType type);

  void zoom( float amount );
  void yaw( float angle );
  void pitch( float angle );
  void move( float x, float y, float z );

  Eigen::Vector3f focal_point_;         
  Eigen::Quaternionf pitch_quat_;
  Eigen::Quaternionf yaw_quat_;
  float distance_;                    

  int32_t last_x_;
  int32_t last_y_;

  rve_render_client::PerspectiveProjectionFactoryPtr camera_projection_;
};
typedef boost::shared_ptr<OrbitCamera> OrbitCameraPtr;

}

#endif // RVE_COMMON_TRANSFORMERS_ORBIT_CAMERA_H