OrbitViewController.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_RENDERING_ORBITVIEWCONTROLLER_HH_
18 #define GAZEBO_RENDERING_ORBITVIEWCONTROLLER_HH_
19 
20 #include <string>
21 
22 #include <ignition/math/Vector3.hh>
23 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace rendering
31  {
34 
37  class GZ_RENDERING_VISIBLE OrbitViewController : public ViewController
38  {
44  public: OrbitViewController(UserCameraPtr _camera,
45  const std::string &_name = "OrbitViewController");
46 
48  public: virtual ~OrbitViewController();
49 
51  public: virtual void Init();
52 
53  // Documentation inherited
54  public: virtual void Init(const ignition::math::Vector3d &_focalPoint,
55  const double _yaw = 0, const double _pitch = 0);
56 
58  public: virtual void Update();
59 
62  public: virtual void HandleMouseEvent(const common::MouseEvent &_event);
63 
66  public: static std::string GetTypeString();
67 
70  public: void SetDistance(float _d);
71 
74  public: void SetFocalPoint(const ignition::math::Vector3d &_fp);
75 
78  public: ignition::math::Vector3d FocalPoint() const;
79 
80  // Documentation inherited from parent
81  public: void HandleKeyReleaseEvent(const std::string &_key);
82 
83  // Documentation inherited from parent
84  public: virtual void HandleKeyPressEvent(const std::string &_key);
85 
86  public: double Pitch() const;
87 
88  public: double Yaw() const;
89 
92  protected: void TranslateLocal(const ignition::math::Vector3d &_vec);
93 
96  protected: void TranslateGlobal(const ignition::math::Vector3d &_vec);
97 
100  protected: void Zoom(float _amount);
101 
105  protected: double NormalizeYaw(double _v);
106 
110  protected: double NormalizePitch(double _v);
111 
113  protected: void UpdateRefVisual();
114 
118  protected: void Orbit(double _dy, double _dp);
119 
121  protected: float yaw;
122 
124  protected: float pitch;
125 
127  protected: float distance;
128 
130  protected: VisualPtr refVisual;
131 
133  protected: std::string key;
134 
137  protected: bool init;
138 
140  protected: ignition::math::Vector3d focalPoint;
141  };
143  }
144 }
145 #endif
Generic description of a mouse event.
Definition: MouseEvent.hh:35
boost::shared_ptr< UserCamera > UserCameraPtr
Definition: RenderTypes.hh:93
float distance
Distance to the focal point.
Definition: OrbitViewController.hh:127
Forward declarations for the common classes.
Definition: Animation.hh:33
VisualPtr refVisual
A reference visual.
Definition: OrbitViewController.hh:130
Orbit view controller.
Definition: OrbitViewController.hh:37
float yaw
Yaw value.
Definition: OrbitViewController.hh:121
ignition::math::Vector3d focalPoint
The focal point.
Definition: OrbitViewController.hh:140
float pitch
Pitch value.
Definition: OrbitViewController.hh:124
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113
bool init
A flag used to inidicate that the view controller has just been initialized.
Definition: OrbitViewController.hh:137
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
std::string key
Key that is currently pressed.
Definition: OrbitViewController.hh:133
Base class for view controllers.
Definition: ViewController.hh:41