frame_position_tracking_view_controller.h

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/*
 * Copyright (c) 2012, 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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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_FRAME_POSITION_TRACKING_VIEW_CONTROLLER_H
#define RVIZ_FRAME_POSITION_TRACKING_VIEW_CONTROLLER_H

#include <OgreQuaternion.h>
#include <OgreVector3.h>

#include "rviz/view_controller.h"
#include "rviz/rviz_export.h"

namespace rviz
{
class TfFrameProperty;

class RVIZ_EXPORT FramePositionTrackingViewController : public ViewController
{
  Q_OBJECT
public:
  FramePositionTrackingViewController();
  ~FramePositionTrackingViewController() override;

  void onInitialize() override;

  void onActivate() override;

  void update(float dt, float ros_dt) override;

  void mimic(ViewController* source_view) override;

protected Q_SLOTS:
  virtual void updateTargetFrame();

protected:
  virtual void onTargetFrameChanged(const Ogre::Vector3& /*old_reference_position*/,
                                    const Ogre::Quaternion& /*old_reference_orientation*/)
  {
  }

  bool getNewTransform();

  virtual void updateTargetSceneNode();

  TfFrameProperty* target_frame_property_;
  Ogre::SceneNode* target_scene_node_;
  Ogre::Quaternion reference_orientation_;
  Ogre::Vector3 reference_position_;
};

} // end namespace rviz

#endif // RVIZ_FRAME_POSITION_TRACKING_VIEW_CONTROLLER_H