An un-constrained "flying" camera, specified by an eye point, focus point, and up vector. More...

#include <rviz_animated_view_controller.h>

Inheritance diagram for rviz_animated_view_controller::AnimatedViewController:

Classes
struct	OgreCameraMovement

Public Types
enum	{ TRANSITION_LINEAR = 0, TRANSITION_SPHERICAL }

typedef boost::circular_buffer< OgreCameraMovement >	BufferCamMovements

Public Member Functions
	AnimatedViewController ()

virtual void	handleMouseEvent (rviz::ViewportMouseEvent &evt)

void	initializePublishers ()

void	initializeSubscribers ()

virtual void	lookAt (const Ogre::Vector3 &point)
	Calls beginNewTransition() to move the focus point to the point provided, assumed to be in the Rviz Fixed Frame. More...

virtual void	mimic (ViewController *source_view)
	Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view. More...

void	move_eye (float x, float y, float z)
	Applies a translation to only the eye point. More...

void	move_focus_and_eye (float x, float y, float z)
	Applies a translation to the focus and eye points. More...

void	moveEyeWithFocusTo (const Ogre::Vector3 &point)
	Calls beginNewTransition() to move the eye to the point given, keeping the direction fixed. More...

virtual void	onActivate ()
	called by activate(). More...

virtual void	onInitialize ()
	Do subclass-specific initialization. Called by ViewController::initialize after context_ and camera_ are set. More...

void	orbitCameraTo (const Ogre::Vector3 &point)
	Calls beginNewTransition() with the focus point fixed, moving the eye to the point given. More...

void	publishCameraPose ()
	Publishes the current camera pose. More...

virtual void	reset ()
	Resets the camera parameters to a sane value. More...

virtual void	transitionFrom (ViewController *previous_view)
	Called by ViewManager when this ViewController is being made current. More...

void	yaw_pitch_roll (float yaw, float pitch, float roll)
	Applies a body-fixed-axes sequence of rotations; only accurate for small angles. More...

virtual	~AnimatedViewController ()

Public Member Functions inherited from rviz::ViewController
void	activate ()

void	emitConfigChanged ()

Ogre::Camera *	getCamera () const

virtual QString	getClassId () const

virtual QCursor	getCursor ()

QVariant	getViewData (int column, int role) const override

Qt::ItemFlags	getViewFlags (int column) const override

virtual void	handleKeyEvent (QKeyEvent event, RenderPanel panel)

void	initialize (DisplayContext *context)

bool	isActive () const

void	load (const Config &config) override

void	lookAt (float x, float y, float z)

void	save (Config config) const override

virtual void	setClassId (const QString &class_id)

	ViewController ()

	~ViewController () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)

Property *	childAt (int index) const

virtual Property *	childAtUnchecked (int index) const

virtual void	collapse ()

bool	contains (Property *possible_child) const

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)

virtual void	expand ()

virtual QString	getDescription () const

virtual bool	getDisableChildren ()

virtual bool	getHidden () const

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const

virtual QString	getName () const

std::string	getNameStd () const

Property *	getParent () const

virtual bool	getReadOnly () const

virtual QVariant	getValue () const

void	hide ()

bool	isAncestorOf (Property *possible_child) const

virtual void	moveChild (int from_index, int to_index)

virtual int	numChildren () const

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const

	Property (const QString &name=QString(), const QVariant &default_value=QVariant(), const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)

virtual void	removeChildren (int start_index=0, int count=-1)

int	rowNumberInParent () const

virtual void	setDescription (const QString &description)

virtual void	setHidden (bool hidden)

virtual void	setIcon (const QIcon &icon)

void	setModel (PropertyTreeModel *model)

virtual void	setName (const QString &name)

void	setParent (Property *new_parent)

virtual void	setReadOnly (bool read_only)

void	setShouldBeSaved (bool save)

virtual bool	setValue (const QVariant &new_value)

bool	shouldBeSaved () const

void	show ()

virtual Property *	subProp (const QString &sub_name)

Property *	takeChild (Property *child)

virtual Property *	takeChildAt (int index)

	~Property () override

Protected Slots
virtual void	onDistancePropertyChanged ()
	Called when distance property is changed; computes new eye position. More...

virtual void	onEyePropertyChanged ()
	Called when eye property is changed; computes new distance. More...

virtual void	onFocusPropertyChanged ()
	Called focus property is changed; computes new distance. More...

virtual void	onUpPropertyChanged ()
	Called when up vector property is changed (does nothing for now...). More...

virtual void	updateAttachedFrame ()
	Called when Target Frame property changes while view is active. Purpose is to change values in the view controller (like a position offset) such that the actual viewpoint does not change. Calls updateTargetSceneNode() and onTargetFrameChanged(). More...

void	updateTopics ()

Protected Member Functions
Ogre::Vector3	attachedLocalToFixedFrame (const Ogre::Vector3 &v)

void	beginNewTransition (const Ogre::Vector3 &eye, const Ogre::Vector3 &focus, const Ogre::Vector3 &up, ros::Duration transition_duration, uint8_t interpolation_speed=view_controller_msgs::CameraMovement::WAVE)
	Begins a camera movement animation to the given goal point. More...

void	cameraPlacementCallback (const view_controller_msgs::CameraPlacementConstPtr &cp_ptr)

void	cameraTrajectoryCallback (const view_controller_msgs::CameraTrajectoryConstPtr &ct_ptr)
	Initiate camera motion from incoming CameraTrajectory. More...

void	cancelTransition ()
	Cancels any currently active camera movement. More...

float	computeRelativeProgressInSpace (double relative_progress_in_time, uint8_t interpolation_speed)
	Convert the relative progress in time to the corresponding relative progress in space wrt. the interpolation speed profile. More...

double	computeRelativeProgressInTime (const ros::Duration &transition_duration)
	Computes the fraction of time we already used for the current movement. More...

void	connectPositionProperties ()
	Convenience function; connects the signals/slots for position properties. More...

void	convertImage (std::shared_ptr< Ogre::PixelBox > input_image, sensor_msgs::ImagePtr output_image)

void	disconnectPositionProperties ()
	Convenience function; disconnects the signals/slots for position properties. More...

Ogre::Vector3	fixedFrameToAttachedLocal (const Ogre::Vector3 &v)

float	getDistanceFromCameraToFocalPoint ()
	Return the distance between camera and focal point. More...

Ogre::Quaternion	getOrientation ()
	Return a Quaternion. More...

void	getViewImage (std::shared_ptr< Ogre::PixelBox > &pixel_box)
	Get the current image rviz is showing as an Ogre::PixelBox. More...

bool	isMovementAvailable ()
	Returns true if buffer contains at least one start and end pose needed for one movement. More...

virtual void	onAttachedFrameChanged (const Ogre::Vector3 &old_reference_position, const Ogre::Quaternion &old_reference_orientation)
	Override to implement the change in properties which nullifies the change in attached frame. More...

void	pauseAnimationCallback (const std_msgs::Duration::ConstPtr &pause_duration_msg)
	Sets the duration the rendering has to wait for during the next update cycle. More...

void	pauseAnimationOnRequest ()
	Pauses the animation if pause_animation_duration_ is larger than zero. More...

void	prepareNextMovement (const ros::Duration &previous_transition_duration)
	Updates the transition_start_time_ and resets the rendered_frames_counter_ for next movement. More...

void	publishViewImage ()
	Publish the rendered image that is visible to the user in rviz. More...

void	setPropertiesFromCamera (Ogre::Camera *source_camera)

void	transformCameraToAttachedFrame (geometry_msgs::PointStamped &eye, geometry_msgs::PointStamped &focus, geometry_msgs::Vector3Stamped &up)
	Transforms the camera defined by eye, focus and up into the attached frame. More...

virtual void	update (float dt, float ros_dt)
	Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly. More...

void	updateAttachedSceneNode ()
	Update the position of the attached_scene_node_ from the TF frame specified in the Attached Frame property. More...

void	updateCamera ()
	Updates the Ogre camera properties from the view controller properties. More...

void	updateWindowSizeProperties ()

Protected Member Functions inherited from rviz::ViewController
void	setCursor (CursorType cursor_type)

void	setCursor (QCursor cursor)

void	setStatus (const QString &message)

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)

Protected Attributes
bool	animate_

rviz::TfFrameProperty *	attached_frame_property_

Ogre::SceneNode *	attached_scene_node_

BufferCamMovements	cam_movements_buffer_

rviz::RosTopicProperty *	camera_placement_topic_property_

rviz::RosTopicProperty *	camera_trajectory_topic_property_

image_transport::Publisher	camera_view_image_publisher_

ros::Publisher	current_camera_pose_publisher_

rviz::FloatProperty *	default_transition_time_property_
	A default time for any animation requests. More...

rviz::FloatProperty *	distance_property_
	The camera's distance from the focal point. More...

bool	dragging_
	A flag indicating the dragging state of the mouse. More...

rviz::VectorProperty *	eye_point_property_
	The position of the camera. More...

ros::Publisher	finished_animation_publisher_

rviz::BoolProperty *	fixed_up_property_
	If True, "up" is fixed to ... up. More...

rviz::Shape *	focal_shape_
	A small ellipsoid to show the focus point. More...

rviz::VectorProperty *	focus_point_property_
	The point around which the camera "orbits". More...

QCursor	interaction_disabled_cursor_
	A cursor for indicating mouse interaction is disabled. More...

rviz::EditableEnumProperty *	interaction_mode_property_
	Select between Orbit or FPS control style. More...

rviz::BoolProperty *	mouse_enabled_property_
	If True, most user changes to camera state are disabled. More...

ros::NodeHandle	nh_

ros::WallDuration	pause_animation_duration_

ros::Subscriber	pause_animation_duration_subscriber_

ros::Subscriber	placement_subscriber_

rviz::BoolProperty *	publish_view_images_property_
	If True, the camera view is published as images. More...

Ogre::Quaternion	reference_orientation_
	Used to store the orientation of the attached frame relative to <Fixed Frame> More...

Ogre::Vector3	reference_position_
	Used to store the position of the attached frame relative to <Fixed Frame> More...

bool	render_frame_by_frame_

int	rendered_frames_counter_

int	target_fps_

ros::Subscriber	trajectory_subscriber_

ros::WallTime	transition_start_time_

rviz::VectorProperty *	up_vector_property_
	The up vector for the camera. More...

rviz::FloatProperty *	window_height_property_
	The height of the rviz visualization window in pixels. More...

rviz::FloatProperty *	window_width_property_
	The width of the rviz visualization window in pixels. More...

Protected Attributes inherited from rviz::ViewController
Ogre::Camera *	camera_

DisplayContext *	context_

	Crosshair

QCursor	cursor_

	Default

BoolProperty *	invert_z_

bool	is_active_

	MoveXY

	MoveZ

FloatProperty *	near_clip_property_

	Rotate2D

	Rotate3D

BoolProperty *	stereo_enable_

FloatProperty *	stereo_eye_separation_

BoolProperty *	stereo_eye_swap_

FloatProperty *	stereo_focal_distance_

	Zoom

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_

QIcon	icon_

PropertyTreeModel *	model_

QVariant	value_

Additional Inherited Members
Signals inherited from rviz::ViewController
void	configChanged ()

Signals inherited from rviz::Property
void	aboutToChange ()

void	changed ()

void	childListChanged (Property *this_property)

Static Public Member Functions inherited from rviz::ViewController
static QString	formatClassId (const QString &class_id)

Protected Types inherited from rviz::ViewController
enum	CursorType

Detailed Description

An un-constrained "flying" camera, specified by an eye point, focus point, and up vector.

Definition at line 77 of file rviz_animated_view_controller.h.

Member Typedef Documentation

◆ BufferCamMovements

typedef boost::circular_buffer<OgreCameraMovement> rviz_animated_view_controller::AnimatedViewController::BufferCamMovements

Definition at line 110 of file rviz_animated_view_controller.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
TRANSITION_LINEAR
TRANSITION_SPHERICAL

Definition at line 82 of file rviz_animated_view_controller.h.

Constructor & Destructor Documentation

◆ AnimatedViewController()

rviz_animated_view_controller::AnimatedViewController::AnimatedViewController ( )

Definition at line 97 of file rviz_animated_view_controller.cpp.

◆ ~AnimatedViewController()

rviz_animated_view_controller::AnimatedViewController::~AnimatedViewController ( )

virtual

Definition at line 159 of file rviz_animated_view_controller.cpp.

Member Function Documentation

◆ attachedLocalToFixedFrame()

Ogre::Vector3 rviz_animated_view_controller::AnimatedViewController::attachedLocalToFixedFrame ( const Ogre::Vector3 & v )

inlineprotected

Definition at line 326 of file rviz_animated_view_controller.h.

◆ beginNewTransition()

void rviz_animated_view_controller::AnimatedViewController::beginNewTransition	(	const Ogre::Vector3 &	eye,
		const Ogre::Vector3 &	focus,
		const Ogre::Vector3 &	up,
		ros::Duration	transition_duration,
		uint8_t	interpolation_speed = `view_controller_msgs::CameraMovement::WAVE`
	)

protected

Begins a camera movement animation to the given goal point.

Parameters

[in]	eye	goal position of camera.
[in]	focus	goal focus point of camera.
[in]	up	goal vector of camera pointing up.
[in]	transition_duration	duration needed for transition.
[in]	interpolation_speed	the interpolation speed profile.

Definition at line 570 of file rviz_animated_view_controller.cpp.

◆ cameraPlacementCallback()

void rviz_animated_view_controller::AnimatedViewController::cameraPlacementCallback ( const view_controller_msgs::CameraPlacementConstPtr & cp_ptr )

protected

Definition at line 619 of file rviz_animated_view_controller.cpp.

◆ cameraTrajectoryCallback()

void rviz_animated_view_controller::AnimatedViewController::cameraTrajectoryCallback ( const view_controller_msgs::CameraTrajectoryConstPtr & ct_ptr )

protected

Initiate camera motion from incoming CameraTrajectory.

Parameters

[in] ct_ptr incoming CameraTrajectory msg.

Definition at line 656 of file rviz_animated_view_controller.cpp.

◆ cancelTransition()

void rviz_animated_view_controller::AnimatedViewController::cancelTransition ( )

protected

Cancels any currently active camera movement.

Definition at line 603 of file rviz_animated_view_controller.cpp.

◆ computeRelativeProgressInSpace()

float rviz_animated_view_controller::AnimatedViewController::computeRelativeProgressInSpace	(	double	relative_progress_in_time,
		uint8_t	interpolation_speed
	)

protected

Convert the relative progress in time to the corresponding relative progress in space wrt. the interpolation speed profile.

Example: The camera has to move from point A to point B in a duration D. The camera should accelerate slowly and arrive at full speed - RISING speed profile. At exactly half of the duration D the camera wouldn't be right in the middle between A and B, because it needed time to accelerate. This method converts the relative progress in time specified by a number between zero and one, to the relative progress in space as a number between zero and one.

Interpolation speed profiles: RISING = 0 # Speed of the camera rises smoothly - resembles the first quarter of a sinus wave. DECLINING = 1 # Speed of the camera declines smoothly - resembles the second quarter of a sinus wave. FULL = 2 # Camera is always at full speed - depending on transition_duration. WAVE = 3 # RISING and DECLINING concatenated in one movement.

@params[in] relative_progress_in_time the relative progress in time, between 0 and 1. @params[in] interpolation_speed speed profile.

Returns: relative progress in space as a float between 0 and 1.

Definition at line 852 of file rviz_animated_view_controller.cpp.

◆ computeRelativeProgressInTime()

double rviz_animated_view_controller::AnimatedViewController::computeRelativeProgressInTime ( const ros::Duration & transition_duration )

protected

Computes the fraction of time we already used for the current movement.

If we are rendering frame by frame we compute the passed time counting the frames we already rendered. Dividing by the total number of frames we want to render for the current transition results in the progress.

@params[in] transition_duration total duration of the current movement.

Returns: Relative progress in time as a float between 0 and 1.

Definition at line 836 of file rviz_animated_view_controller.cpp.

◆ connectPositionProperties()

void rviz_animated_view_controller::AnimatedViewController::connectPositionProperties ( )

protected

Convenience function; connects the signals/slots for position properties.

Definition at line 239 of file rviz_animated_view_controller.cpp.

◆ convertImage()

void rviz_animated_view_controller::AnimatedViewController::convertImage	(	std::shared_ptr< Ogre::PixelBox >	input_image,
		sensor_msgs::ImagePtr	output_image
	)

protected

Definition at line 900 of file rviz_animated_view_controller.cpp.

◆ disconnectPositionProperties()

void rviz_animated_view_controller::AnimatedViewController::disconnectPositionProperties ( )

protected

Convenience function; disconnects the signals/slots for position properties.

Definition at line 247 of file rviz_animated_view_controller.cpp.

◆ fixedFrameToAttachedLocal()

Ogre::Vector3 rviz_animated_view_controller::AnimatedViewController::fixedFrameToAttachedLocal ( const Ogre::Vector3 & v )

inlineprotected

Definition at line 325 of file rviz_animated_view_controller.h.

◆ getDistanceFromCameraToFocalPoint()

float rviz_animated_view_controller::AnimatedViewController::getDistanceFromCameraToFocalPoint ( )

protected

Return the distance between camera and focal point.

Definition at line 338 of file rviz_animated_view_controller.cpp.

◆ getOrientation()

Ogre::Quaternion rviz_animated_view_controller::AnimatedViewController::getOrientation ( )

protected

Return a Quaternion.

Definition at line 976 of file rviz_animated_view_controller.cpp.

◆ getViewImage()

void rviz_animated_view_controller::AnimatedViewController::getViewImage ( std::shared_ptr< Ogre::PixelBox > & pixel_box )

protected

Get the current image rviz is showing as an Ogre::PixelBox.

Definition at line 885 of file rviz_animated_view_controller.cpp.

◆ handleMouseEvent()

void rviz_animated_view_controller::AnimatedViewController::handleMouseEvent ( rviz::ViewportMouseEvent & evt )

virtual

Reimplemented from rviz::ViewController.

Definition at line 362 of file rviz_animated_view_controller.cpp.

◆ initializePublishers()

void rviz_animated_view_controller::AnimatedViewController::initializePublishers ( )

Definition at line 176 of file rviz_animated_view_controller.cpp.

◆ initializeSubscribers()

void rviz_animated_view_controller::AnimatedViewController::initializeSubscribers ( )

Definition at line 185 of file rviz_animated_view_controller.cpp.

◆ isMovementAvailable()

bool rviz_animated_view_controller::AnimatedViewController::isMovementAvailable ( )

inlineprotected

Returns true if buffer contains at least one start and end pose needed for one movement.

Definition at line 213 of file rviz_animated_view_controller.h.

◆ lookAt()

void rviz_animated_view_controller::AnimatedViewController::lookAt ( const Ogre::Vector3 & point )

virtual

Calls beginNewTransition() to move the focus point to the point provided, assumed to be in the Rviz Fixed Frame.

Reimplemented from rviz::ViewController.

Definition at line 737 of file rviz_animated_view_controller.cpp.

◆ mimic()

void rviz_animated_view_controller::AnimatedViewController::mimic ( ViewController * source_view )

virtual

Configure the settings of this view controller to give, as much as possible, a similar view as that given by the source_view.

source_view must return a valid Ogre::Camera* from getCamera().

Reimplemented from rviz::ViewController.

Definition at line 525 of file rviz_animated_view_controller.cpp.

◆ move_eye()

void rviz_animated_view_controller::AnimatedViewController::move_eye	(	float	x,
		float	y,
		float	z
	)

Applies a translation to only the eye point.

Definition at line 988 of file rviz_animated_view_controller.cpp.

◆ move_focus_and_eye()

void rviz_animated_view_controller::AnimatedViewController::move_focus_and_eye	(	float	x,
		float	y,
		float	z
	)

Applies a translation to the focus and eye points.

Definition at line 981 of file rviz_animated_view_controller.cpp.

◆ moveEyeWithFocusTo()

void rviz_animated_view_controller::AnimatedViewController::moveEyeWithFocusTo ( const Ogre::Vector3 & point )

Calls beginNewTransition() to move the eye to the point given, keeping the direction fixed.

Definition at line 759 of file rviz_animated_view_controller.cpp.

◆ onActivate()

void rviz_animated_view_controller::AnimatedViewController::onActivate ( )

virtual

called by activate().

This version calls updateAttachedSceneNode().

Reimplemented from rviz::ViewController.

Definition at line 220 of file rviz_animated_view_controller.cpp.

◆ onAttachedFrameChanged()

void rviz_animated_view_controller::AnimatedViewController::onAttachedFrameChanged	(	const Ogre::Vector3 &	old_reference_position,
		const Ogre::Quaternion &	old_reference_orientation
	)

protectedvirtual

Override to implement the change in properties which nullifies the change in attached frame.

See also: updateAttachedFrame()

Definition at line 318 of file rviz_animated_view_controller.cpp.

◆ onDistancePropertyChanged

void rviz_animated_view_controller::AnimatedViewController::onDistancePropertyChanged ( )

protectedvirtualslot

Called when distance property is changed; computes new eye position.

Definition at line 265 of file rviz_animated_view_controller.cpp.

◆ onEyePropertyChanged

void rviz_animated_view_controller::AnimatedViewController::onEyePropertyChanged ( )

protectedvirtualslot

Called when eye property is changed; computes new distance.

Definition at line 255 of file rviz_animated_view_controller.cpp.

◆ onFocusPropertyChanged

void rviz_animated_view_controller::AnimatedViewController::onFocusPropertyChanged ( )

protectedvirtualslot

Called focus property is changed; computes new distance.

Definition at line 260 of file rviz_animated_view_controller.cpp.

◆ onInitialize()

void rviz_animated_view_controller::AnimatedViewController::onInitialize ( )

virtual

Do subclass-specific initialization. Called by ViewController::initialize after context_ and camera_ are set.

This version sets up the attached_scene_node, focus shape, and subscribers.

Reimplemented from rviz::ViewController.

Definition at line 197 of file rviz_animated_view_controller.cpp.

◆ onUpPropertyChanged

void rviz_animated_view_controller::AnimatedViewController::onUpPropertyChanged ( )

protectedvirtualslot

Called when up vector property is changed (does nothing for now...).

Definition at line 273 of file rviz_animated_view_controller.cpp.

◆ orbitCameraTo()

void rviz_animated_view_controller::AnimatedViewController::orbitCameraTo ( const Ogre::Vector3 & point )

Calls beginNewTransition() with the focus point fixed, moving the eye to the point given.

Definition at line 752 of file rviz_animated_view_controller.cpp.

◆ pauseAnimationCallback()

void rviz_animated_view_controller::AnimatedViewController::pauseAnimationCallback ( const std_msgs::Duration::ConstPtr & pause_duration_msg )

protected

Sets the duration the rendering has to wait for during the next update cycle.

@params[in] pause_duration_msg duration to wait for.

Definition at line 191 of file rviz_animated_view_controller.cpp.

◆ pauseAnimationOnRequest()

void rviz_animated_view_controller::AnimatedViewController::pauseAnimationOnRequest ( )

protected

Pauses the animation if pause_animation_duration_ is larger than zero.

Adds the pause_animation_duration_ to the transition_start_time_ to continue the animation from where it was paused.

Definition at line 826 of file rviz_animated_view_controller.cpp.

◆ prepareNextMovement()

void rviz_animated_view_controller::AnimatedViewController::prepareNextMovement ( const ros::Duration & previous_transition_duration )

protected

Updates the transition_start_time_ and resets the rendered_frames_counter_ for next movement.

Definition at line 919 of file rviz_animated_view_controller.cpp.

◆ publishCameraPose()

void rviz_animated_view_controller::AnimatedViewController::publishCameraPose ( )

Publishes the current camera pose.

Definition at line 485 of file rviz_animated_view_controller.cpp.

◆ publishViewImage()

void rviz_animated_view_controller::AnimatedViewController::publishViewImage ( )

protected

Publish the rendered image that is visible to the user in rviz.

Definition at line 869 of file rviz_animated_view_controller.cpp.

◆ reset()

void rviz_animated_view_controller::AnimatedViewController::reset ( )

virtual

Resets the camera parameters to a sane value.

Implements rviz::ViewController.

Definition at line 343 of file rviz_animated_view_controller.cpp.

◆ setPropertiesFromCamera()

void rviz_animated_view_controller::AnimatedViewController::setPropertiesFromCamera ( Ogre::Camera * source_camera )

protected

Definition at line 510 of file rviz_animated_view_controller.cpp.

◆ transformCameraToAttachedFrame()

void rviz_animated_view_controller::AnimatedViewController::transformCameraToAttachedFrame	(	geometry_msgs::PointStamped &	eye,
		geometry_msgs::PointStamped &	focus,
		geometry_msgs::Vector3Stamped &	up
	)

protected

Transforms the camera defined by eye, focus and up into the attached frame.

Parameters

[in,out]	eye	position of the camera.
[in,out]	focus	focus point of the camera.
[in,out]	up	vector pointing up from the camera.

Definition at line 709 of file rviz_animated_view_controller.cpp.

◆ transitionFrom()

void rviz_animated_view_controller::AnimatedViewController::transitionFrom ( ViewController * previous_view )

virtual

Called by ViewManager when this ViewController is being made current.

Parameters

previous_view is the previous "current" view, and will not be NULL.

This gives ViewController subclasses an opportunity to implement a smooth transition from a previous viewpoint to the new viewpoint.

Reimplemented from rviz::ViewController.

Definition at line 553 of file rviz_animated_view_controller.cpp.

◆ update()

void rviz_animated_view_controller::AnimatedViewController::update	(	float	dt,
		float	ros_dt
	)

protectedvirtual

Called at 30Hz by ViewManager::update() while this view is active. Override with code that needs to run repeatedly.

Reimplemented from rviz::ViewController.

Definition at line 767 of file rviz_animated_view_controller.cpp.

◆ updateAttachedFrame

void rviz_animated_view_controller::AnimatedViewController::updateAttachedFrame ( )

protectedvirtualslot

Called when Target Frame property changes while view is active. Purpose is to change values in the view controller (like a position offset) such that the actual viewpoint does not change. Calls updateTargetSceneNode() and onTargetFrameChanged().

Definition at line 290 of file rviz_animated_view_controller.cpp.

◆ updateAttachedSceneNode()

void rviz_animated_view_controller::AnimatedViewController::updateAttachedSceneNode ( )

protected

Update the position of the attached_scene_node_ from the TF frame specified in the Attached Frame property.

Definition at line 300 of file rviz_animated_view_controller.cpp.

◆ updateCamera()

void rviz_animated_view_controller::AnimatedViewController::updateCamera ( )

protected

Updates the Ogre camera properties from the view controller properties.

Definition at line 925 of file rviz_animated_view_controller.cpp.

◆ updateTopics

void rviz_animated_view_controller::AnimatedViewController::updateTopics ( )

protectedslot

Definition at line 165 of file rviz_animated_view_controller.cpp.

◆ updateWindowSizeProperties()

void rviz_animated_view_controller::AnimatedViewController::updateWindowSizeProperties ( )

protected

Definition at line 214 of file rviz_animated_view_controller.cpp.

◆ yaw_pitch_roll()

void rviz_animated_view_controller::AnimatedViewController::yaw_pitch_roll	(	float	yaw,
		float	pitch,
		float	roll
	)

Applies a body-fixed-axes sequence of rotations; only accurate for small angles.

Definition at line 934 of file rviz_animated_view_controller.cpp.

Member Data Documentation

◆ animate_

bool rviz_animated_view_controller::AnimatedViewController::animate_

protected

Definition at line 365 of file rviz_animated_view_controller.h.

◆ attached_frame_property_

rviz::TfFrameProperty* rviz_animated_view_controller::AnimatedViewController::attached_frame_property_

protected

Definition at line 358 of file rviz_animated_view_controller.h.

◆ attached_scene_node_

Ogre::SceneNode* rviz_animated_view_controller::AnimatedViewController::attached_scene_node_

protected

Definition at line 359 of file rviz_animated_view_controller.h.

◆ cam_movements_buffer_

BufferCamMovements rviz_animated_view_controller::AnimatedViewController::cam_movements_buffer_

protected

Definition at line 367 of file rviz_animated_view_controller.h.

◆ camera_placement_topic_property_

rviz::RosTopicProperty* rviz_animated_view_controller::AnimatedViewController::camera_placement_topic_property_

protected

Definition at line 350 of file rviz_animated_view_controller.h.

◆ camera_trajectory_topic_property_

rviz::RosTopicProperty* rviz_animated_view_controller::AnimatedViewController::camera_trajectory_topic_property_

protected

Definition at line 351 of file rviz_animated_view_controller.h.

◆ camera_view_image_publisher_

image_transport::Publisher rviz_animated_view_controller::AnimatedViewController::camera_view_image_publisher_

protected

Definition at line 380 of file rviz_animated_view_controller.h.

◆ current_camera_pose_publisher_

ros::Publisher rviz_animated_view_controller::AnimatedViewController::current_camera_pose_publisher_

protected

Definition at line 378 of file rviz_animated_view_controller.h.

◆ default_transition_time_property_

rviz::FloatProperty* rviz_animated_view_controller::AnimatedViewController::default_transition_time_property_

protected

A default time for any animation requests.

Definition at line 348 of file rviz_animated_view_controller.h.

◆ distance_property_

rviz::FloatProperty* rviz_animated_view_controller::AnimatedViewController::distance_property_

protected

The camera's distance from the focal point.

Definition at line 344 of file rviz_animated_view_controller.h.

◆ dragging_

bool rviz_animated_view_controller::AnimatedViewController::dragging_

protected

A flag indicating the dragging state of the mouse.

Definition at line 370 of file rviz_animated_view_controller.h.

◆ eye_point_property_

rviz::VectorProperty* rviz_animated_view_controller::AnimatedViewController::eye_point_property_

protected

The position of the camera.

Definition at line 345 of file rviz_animated_view_controller.h.

◆ finished_animation_publisher_

ros::Publisher rviz_animated_view_controller::AnimatedViewController::finished_animation_publisher_

protected

Definition at line 379 of file rviz_animated_view_controller.h.

◆ fixed_up_property_

rviz::BoolProperty* rviz_animated_view_controller::AnimatedViewController::fixed_up_property_

protected

If True, "up" is fixed to ... up.

Definition at line 342 of file rviz_animated_view_controller.h.

◆ focal_shape_

rviz::Shape* rviz_animated_view_controller::AnimatedViewController::focal_shape_

protected

A small ellipsoid to show the focus point.

Definition at line 369 of file rviz_animated_view_controller.h.

◆ focus_point_property_

rviz::VectorProperty* rviz_animated_view_controller::AnimatedViewController::focus_point_property_

protected

The point around which the camera "orbits".

Definition at line 346 of file rviz_animated_view_controller.h.

◆ interaction_disabled_cursor_

QCursor rviz_animated_view_controller::AnimatedViewController::interaction_disabled_cursor_

protected

A cursor for indicating mouse interaction is disabled.

Definition at line 372 of file rviz_animated_view_controller.h.

◆ interaction_mode_property_

rviz::EditableEnumProperty* rviz_animated_view_controller::AnimatedViewController::interaction_mode_property_

protected

Select between Orbit or FPS control style.

Definition at line 341 of file rviz_animated_view_controller.h.

◆ mouse_enabled_property_

rviz::BoolProperty* rviz_animated_view_controller::AnimatedViewController::mouse_enabled_property_

protected

If True, most user changes to camera state are disabled.

Definition at line 340 of file rviz_animated_view_controller.h.

◆ nh_

ros::NodeHandle rviz_animated_view_controller::AnimatedViewController::nh_

protected

Definition at line 338 of file rviz_animated_view_controller.h.

◆ pause_animation_duration_

ros::WallDuration rviz_animated_view_controller::AnimatedViewController::pause_animation_duration_

protected

Definition at line 386 of file rviz_animated_view_controller.h.

◆ pause_animation_duration_subscriber_

ros::Subscriber rviz_animated_view_controller::AnimatedViewController::pause_animation_duration_subscriber_

protected

Definition at line 376 of file rviz_animated_view_controller.h.

◆ placement_subscriber_

ros::Subscriber rviz_animated_view_controller::AnimatedViewController::placement_subscriber_

protected

Definition at line 374 of file rviz_animated_view_controller.h.

◆ publish_view_images_property_

rviz::BoolProperty* rviz_animated_view_controller::AnimatedViewController::publish_view_images_property_

protected

If True, the camera view is published as images.

Definition at line 356 of file rviz_animated_view_controller.h.

◆ reference_orientation_

Ogre::Quaternion rviz_animated_view_controller::AnimatedViewController::reference_orientation_

protected

Used to store the orientation of the attached frame relative to <Fixed Frame>

Definition at line 361 of file rviz_animated_view_controller.h.

◆ reference_position_

Ogre::Vector3 rviz_animated_view_controller::AnimatedViewController::reference_position_

protected

Used to store the position of the attached frame relative to <Fixed Frame>

Definition at line 362 of file rviz_animated_view_controller.h.

◆ render_frame_by_frame_

bool rviz_animated_view_controller::AnimatedViewController::render_frame_by_frame_

protected

Definition at line 382 of file rviz_animated_view_controller.h.

◆ rendered_frames_counter_

int rviz_animated_view_controller::AnimatedViewController::rendered_frames_counter_

protected

Definition at line 384 of file rviz_animated_view_controller.h.

◆ target_fps_

int rviz_animated_view_controller::AnimatedViewController::target_fps_

protected

Definition at line 383 of file rviz_animated_view_controller.h.

◆ trajectory_subscriber_

ros::Subscriber rviz_animated_view_controller::AnimatedViewController::trajectory_subscriber_

protected

Definition at line 375 of file rviz_animated_view_controller.h.

◆ transition_start_time_

ros::WallTime rviz_animated_view_controller::AnimatedViewController::transition_start_time_

protected

Definition at line 366 of file rviz_animated_view_controller.h.

◆ up_vector_property_

rviz::VectorProperty* rviz_animated_view_controller::AnimatedViewController::up_vector_property_

protected

The up vector for the camera.

Definition at line 347 of file rviz_animated_view_controller.h.

◆ window_height_property_

rviz::FloatProperty* rviz_animated_view_controller::AnimatedViewController::window_height_property_

protected

The height of the rviz visualization window in pixels.

Definition at line 354 of file rviz_animated_view_controller.h.

◆ window_width_property_

rviz::FloatProperty* rviz_animated_view_controller::AnimatedViewController::window_width_property_

protected

The width of the rviz visualization window in pixels.

Definition at line 353 of file rviz_animated_view_controller.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BufferCamMovements

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ AnimatedViewController()

◆ ~AnimatedViewController()

Member Function Documentation

◆ attachedLocalToFixedFrame()

◆ beginNewTransition()

◆ cameraPlacementCallback()

◆ cameraTrajectoryCallback()

◆ cancelTransition()

◆ computeRelativeProgressInSpace()

◆ computeRelativeProgressInTime()

◆ connectPositionProperties()

◆ convertImage()

◆ disconnectPositionProperties()

◆ fixedFrameToAttachedLocal()

◆ getDistanceFromCameraToFocalPoint()

◆ getOrientation()

◆ getViewImage()

◆ handleMouseEvent()

◆ initializePublishers()

◆ initializeSubscribers()

◆ isMovementAvailable()

◆ lookAt()

◆ mimic()

◆ move_eye()

◆ move_focus_and_eye()

◆ moveEyeWithFocusTo()

◆ onActivate()

◆ onAttachedFrameChanged()

◆ onDistancePropertyChanged

◆ onEyePropertyChanged

◆ onFocusPropertyChanged

◆ onInitialize()

◆ onUpPropertyChanged

◆ orbitCameraTo()

◆ pauseAnimationCallback()

◆ pauseAnimationOnRequest()

◆ prepareNextMovement()

◆ publishCameraPose()

◆ publishViewImage()

◆ reset()

◆ setPropertiesFromCamera()

◆ transformCameraToAttachedFrame()

◆ transitionFrom()

◆ update()

◆ updateAttachedFrame

◆ updateAttachedSceneNode()

◆ updateCamera()

◆ updateTopics

◆ updateWindowSizeProperties()

◆ yaw_pitch_roll()

Member Data Documentation

◆ animate_

◆ attached_frame_property_

◆ attached_scene_node_

◆ cam_movements_buffer_

◆ camera_placement_topic_property_

◆ camera_trajectory_topic_property_

◆ camera_view_image_publisher_

◆ current_camera_pose_publisher_

◆ default_transition_time_property_

◆ distance_property_

◆ dragging_

◆ eye_point_property_

◆ finished_animation_publisher_

◆ fixed_up_property_

◆ focal_shape_

◆ focus_point_property_