An transform tool for translating, rotating, and scaling objects. More...

#include <TransformController.hh>

Public Member Functions
	TransformController ()
	Constructor.

virtual	~TransformController ()
	Destructor.

virtual bool	Active () const
	Check if the transform process is active.

virtual math::Vector3d	ActiveAxis () const
	Get the current highlighted active axis of transform.

virtual void	Attach (NodePtr _node)
	Attach the transform controller to the specified node.

virtual math::Vector3d	AxisById (unsigned int _id) const
	Get the axis of transform represented by the given node id.

virtual CameraPtr	Camera () const
	get the camera that is controlled by this view controller.

virtual void	Detach ()
	Detach the transform controller from the currently attached node.

virtual TransformMode	Mode () const
	Get the current transform mode.

virtual NodePtr	Node () const
	Get the attached node.

virtual void	Rotate (const math::Quaterniond &_rotation, bool _snap=false)
	Rotate the attached node.

math::Quaterniond	RotationFrom2d (const math::Vector3d &_axis, const math::Vector2d &_start, const math::Vector2d &_end)
	Helper function to compute 3d rotation from 2d translation movement. Useful for converting 2d mouse drag motion to rotation angle in world frame. Note that the camera must be set and Start() must be called before using this function.

virtual void	Scale (const math::Vector3d &_scale, bool _snap=false)
	Scale the attached node.

math::Vector3d	ScaleFrom2d (const math::Vector3d &_axis, const math::Vector2d &_start, const math::Vector2d &_end)
	Helper function to compute 3d scale from 2d translation movement. Useful for converting 2d mouse drag motion to scale vector in world frame. Note that the camera must be set and Start() must be called before using this function.

virtual void	SetActiveAxis (const math::Vector3d &_axis)
	Set the active transform axis. This highlights the axis visual.

virtual void	SetCamera (const CameraPtr &_camera)
	Set the camera.

virtual void	SetTransformMode (TransformMode _mode)
	Set the transform mode.

virtual void	SetTransformSpace (TransformSpace _space)
	Set the transform space.

virtual TransformSpace	Space () const
	Get the transform space.

virtual void	Start ()
	Start the transform process. To be used with helper functions that computions transforms from 2d movements.

virtual void	Stop ()
	Stop the transform process. To be used with helper functions that computions transforms from 2d movements.

virtual void	Translate (const math::Vector3d &_translation, bool _snap=false)
	Translate the attached node.

math::Vector3d	TranslationFrom2d (const math::Vector3d &_axis, const math::Vector2d &_start, const math::Vector2d &_end)
	Helper function to compute 3d translation from 2d translation movement. Useful for converting 2d mouse drag motion to displacement in world frame. Note that the camera must be set and Start() must be called before using this function.

virtual void	Update ()
	Update the transform controller. Its visual is updated based on the current transform mode, space, and axis.

Static Public Member Functions
static gz::math::Vector3d	SnapPoint (const gz::math::Vector3d &_point, const double _interval=1.0, const double _sensitivity=0.4)
	Snap a point at intervals of a fixed distance. Currently used to give a snapping behavior when transforming objects.

static math::Vector3d	ToAxis (TransformAxis _axis)
	Convert a TransformAxis to a vector type.

Public Attributes
std::unique_ptr< TransformControllerPrivate >	dataPtr
	Private data pointer.

Protected Member Functions
math::Planed	CreatePlaneForTransform (const math::Vector3d &_axis, const math::Vector2d &_pt2d)
	Helper function to create a plane for transfomation. The plane is chosen based on the current transform mode and the transform axis specified.

bool	RayPlaneIntersection (RayQueryPtr _ray, const math::Planed &_plane, math::Vector3d &_result)
	Helper function to compute ray plane intersection.

Detailed Description

An transform tool for translating, rotating, and scaling objects.

Constructor & Destructor Documentation

◆ TransformController()

TransformController ( )

Constructor.

◆ ~TransformController()

virtual ~TransformController ( )

virtual

Destructor.

Member Function Documentation

◆ Active()

virtual bool Active ( ) const

virtual

Check if the transform process is active.

Returns: True if node is being transformed

◆ ActiveAxis()

virtual math::Vector3d ActiveAxis ( ) const

virtual

Get the current highlighted active axis of transform.

Returns: Active axis of transform

◆ Attach()

virtual void Attach ( NodePtr _node )

virtual

Attach the transform controller to the specified node.

Parameters

[in] _node Node that will be transformed

◆ AxisById()

virtual math::Vector3d AxisById ( unsigned int _id ) const

virtual

Get the axis of transform represented by the given node id.

Parameters

[in] _id Id of the node to check

Returns: Transform axis

◆ Camera()

virtual CameraPtr Camera ( ) const

virtual

get the camera that is controlled by this view controller.

Returns: camera being controlled

◆ CreatePlaneForTransform()

math::Planed CreatePlaneForTransform	(	const math::Vector3d &	_axis,
		const math::Vector2d &	_pt2d
	)

protected

Helper function to create a plane for transfomation. The plane is chosen based on the current transform mode and the transform axis specified.

Parameters

[in]	_axis	Transformation axis used to identify the plane for projection.
[in]	_pt2d	2d point to help fine tune the plane created.

Returns: Plane created for transform

◆ Detach()

virtual void Detach ( )

virtual

Detach the transform controller from the currently attached node.

◆ Mode()

virtual TransformMode Mode ( ) const

virtual

Get the current transform mode.

Returns: Transform mode

◆ Node()

virtual NodePtr Node ( ) const

virtual

Get the attached node.

Returns: The node which is being transformed, nullptr if there is no node attached.

◆ RayPlaneIntersection()

bool RayPlaneIntersection	(	RayQueryPtr	_ray,
		const math::Planed &	_plane,
		math::Vector3d &	_result
	)

protected

Helper function to compute ray plane intersection.

Parameters

[in]	_ray	Input ray
[in]	_plane	Plane to check for intersection
[out]	_result	Intersection point

Returns: True if intersection point exist, false if ray is parallel to plane

◆ Rotate()

virtual void Rotate	(	const math::Quaterniond &	_rotation,
		bool	_snap = `false`
	)

virtual

Rotate the attached node.

Parameters

[in]	_rotation	Rotation in the current transform space
[in]	_snap	True to snap rotation angle to fixed increments

See also: SetTransformSpace

◆ RotationFrom2d()

math::Quaterniond RotationFrom2d	(	const math::Vector3d &	_axis,
		const math::Vector2d &	_start,
		const math::Vector2d &	_end
	)

Helper function to compute 3d rotation from 2d translation movement. Useful for converting 2d mouse drag motion to rotation angle in world frame. Note that the camera must be set and Start() must be called before using this function.

Parameters

[in]	_axis	Axis of 3d rotation. The resulting rotation is is constrained to this axis.
[in]	_start	Starting position of the 2d translation movement
[in]	_end	End position of the 2d translation movement

Returns: Rotation in the current transform space

◆ Scale()

virtual void Scale	(	const math::Vector3d &	_scale,
		bool	_snap = `false`
	)

virtual

Scale the attached node.

Parameters

[in]	_scale	Scale in the current transform space
[in]	_snap	True to snap scale to fixed increments

See also: SetTransformSpace

◆ ScaleFrom2d()

math::Vector3d ScaleFrom2d	(	const math::Vector3d &	_axis,
		const math::Vector2d &	_start,
		const math::Vector2d &	_end
	)

Helper function to compute 3d scale from 2d translation movement. Useful for converting 2d mouse drag motion to scale vector in world frame. Note that the camera must be set and Start() must be called before using this function.

Parameters

[in]	_axis	Axis of scale. The resulting 3d vector is constrained to this axis.
[in]	_start	Starting position of the 2d translation movement
[in]	_end	End position of the 2d translation movement

Returns: 3d scale vector in the current transform space

◆ SetActiveAxis()

virtual void SetActiveAxis ( const math::Vector3d & _axis )

virtual

Set the active transform axis. This highlights the axis visual.

Parameters

[in] _axis Transform axis vector

◆ SetCamera()

virtual void SetCamera ( const CameraPtr & _camera )

virtual

Set the camera.

Parameters

[in] _camera Camera

◆ SetTransformMode()

virtual void SetTransformMode ( TransformMode _mode )

virtual

Set the transform mode.

Parameters

[in] _mode Transform mode to set to

◆ SetTransformSpace()

virtual void SetTransformSpace ( TransformSpace _space )

virtual

Set the transform space.

Parameters

[in] _space Transform space to set to

◆ SnapPoint()

static gz::math::Vector3d SnapPoint	(	const gz::math::Vector3d &	_point,
		const double	_interval = `1.0`,
		const double	_sensitivity = `0.4`
	)

static

Snap a point at intervals of a fixed distance. Currently used to give a snapping behavior when transforming objects.

Parameters

[in]	_point	Input point.
[in]	_interval	Fixed distance interval at which the point is snapped.
[in]	_sensitivity	Sensitivity of point snapping, in terms of a percentage of the interval.

Returns: Snapped 3D point.

◆ Space()

virtual TransformSpace Space ( ) const

virtual

Get the transform space.

Returns: Transform space

◆ Start()

virtual void Start ( )

virtual

Start the transform process. To be used with helper functions that computions transforms from 2d movements.

See also: Stop

◆ Stop()

virtual void Stop ( )

virtual

Stop the transform process. To be used with helper functions that computions transforms from 2d movements.

See also: Stop

◆ ToAxis()

static math::Vector3d ToAxis ( TransformAxis _axis )

static

Convert a TransformAxis to a vector type.

Parameters

[in] _axis Transform axis

Returns: 3d axis vector

◆ Translate()

virtual void Translate	(	const math::Vector3d &	_translation,
		bool	_snap = `false`
	)

virtual

Translate the attached node.

Parameters

[in]	_translation	Translation in the current transform space
[in]	_snap	True to snap the final position to fixed increments

See also: SetTransformSpace

◆ TranslationFrom2d()

math::Vector3d TranslationFrom2d	(	const math::Vector3d &	_axis,
		const math::Vector2d &	_start,
		const math::Vector2d &	_end
	)

Helper function to compute 3d translation from 2d translation movement. Useful for converting 2d mouse drag motion to displacement in world frame. Note that the camera must be set and Start() must be called before using this function.

Parameters

[in]	_axis	Axis of 3d translation. The resulting 3d vector is constrained to this axis.
[in]	_start	Starting position of the 2d translation movement
[in]	_end	End position of the 2d translation movement

Returns: 3d translation vector in the current transform space

◆ Update()

virtual void Update ( )

virtual

Update the transform controller. Its visual is updated based on the current transform mode, space, and axis.

Member Data Documentation

◆ dataPtr

std::unique_ptr<TransformControllerPrivate> dataPtr

Private data pointer.

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

TransformController.hh

Gazebo Rendering

API Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TransformController()

◆ ~TransformController()

Member Function Documentation

◆ Active()

◆ ActiveAxis()

◆ Attach()

◆ AxisById()

◆ Camera()

◆ CreatePlaneForTransform()

◆ Detach()

◆ Mode()

◆ Node()

◆ RayPlaneIntersection()

◆ Rotate()

◆ RotationFrom2d()

◆ Scale()

◆ ScaleFrom2d()

◆ SetActiveAxis()

◆ SetCamera()

◆ SetTransformMode()

◆ SetTransformSpace()

◆ SnapPoint()

◆ Space()

◆ Start()

◆ Stop()

◆ ToAxis()

◆ Translate()

◆ TranslationFrom2d()

◆ Update()

Member Data Documentation

◆ dataPtr