gazebo::gui::ModelManipulator Class Reference

Manipulator tool for translating/rotating/scaling models and links. More...

#include <gui/Gui.hh>

Inheritance diagram for gazebo::gui::ModelManipulator:

Collaboration diagram for gazebo::gui::ModelManipulator:

Public Member Functions
void	Init ()
	Initialize the model manipulator. More...
void	OnKeyPressEvent (const common::KeyEvent &_event)
	Process a key press event. More...
void	OnKeyReleaseEvent (const common::KeyEvent &_event)
	Process a key release event. More...
void	OnMouseMoveEvent (const common::MouseEvent &_event)
	Process an object translate mouse move event. More...
void	OnMousePressEvent (const common::MouseEvent &_event)
	Process an object translate mouse press event. More...
void	OnMouseReleaseEvent (const common::MouseEvent &_event)
	Process an object translate mouse release event. More...
void	RotateEntity (rendering::VisualPtr &_vis, const math::Vector3 &_axis, bool _local=false)
	Rotate entity. More...
void	ScaleEntity (rendering::VisualPtr &_vis, const math::Vector3 &_axis, bool _local=false)
	Scale entity. More...
void	SetAttachedVisual (rendering::VisualPtr _vis)
	Set the visual to be manipulated by the model manipulator. More...
void	SetManipulationMode (const std::string &_mode)
	Set the manipulation mode. More...
void	TranslateEntity (rendering::VisualPtr &_vis, const math::Vector3 &_axis, bool _local=false)
	Translate entity. More...

Static Public Member Functions
static math::Vector3	GetMouseMoveDistance (rendering::CameraPtr _camera, const math::Vector2i &_start, const math::Vector2i &_end, const math::Pose &_pose, const math::Vector3 &_axis, bool _local)
	Helper function to get the distance moved by the mouse. More...
static math::Vector3	GetMousePositionOnPlane (rendering::CameraPtr _camera, const common::MouseEvent &_event)
	Helper function to get the 3D position of mouse on ground plane. More...
static math::Vector3	SnapPoint (const math::Vector3 &_point, double _interval=1.0, double _sensitivity=0.4)
	Snap a point at intervals of a fixed distance. More...
Static Public Member Functions inherited from SingletonT< ModelManipulator >
static ModelManipulator *	Instance ()
	Get an instance of the singleton. More...

Additional Inherited Members
Protected Member Functions inherited from SingletonT< ModelManipulator >
	SingletonT ()
	Constructor. More...
virtual	~SingletonT ()
	Destructor. More...

Detailed Description

Manipulator tool for translating/rotating/scaling models and links.

Member Function Documentation

static math::Vector3 gazebo::gui::ModelManipulator::GetMouseMoveDistance ( rendering::CameraPtr  _camera, const math::Vector2i &  _start, const math::Vector2i &  _end, const math::Pose &  _pose, const math::Vector3 &  _axis, bool  _local  )

static

Helper function to get the distance moved by the mouse.

Parameters

[in]	_camera	Pointer to user camera.
[in]	_pose	Pose of origin.
[in]	_axis	Movement axis.
[in]	_local	True to get distance in local frame.

Returns

Mouse distance moved.

static math::Vector3 gazebo::gui::ModelManipulator::GetMousePositionOnPlane ( rendering::CameraPtr  _camera, const common::MouseEvent &  _event  )

static

Helper function to get the 3D position of mouse on ground plane.

param[in] _camera Pointer to user camera. param[in] _event Mouse event. return Point of mouse-plane intersection in world coordinates.

void gazebo::gui::ModelManipulator::Init

(

)

Initialize the model manipulator.

void gazebo::gui::ModelManipulator::OnKeyPressEvent

(

const common::KeyEvent &

_event

)

Process a key press event.

Parameters

[in]

_event

Key event.

void gazebo::gui::ModelManipulator::OnKeyReleaseEvent

(

const common::KeyEvent &

_event

)

Process a key release event.

Parameters

[in]

_event

Key event.

void gazebo::gui::ModelManipulator::OnMouseMoveEvent

(

const common::MouseEvent &

_event

)

Process an object translate mouse move event.

Parameters

[in]

_event

Mouse event.

void gazebo::gui::ModelManipulator::OnMousePressEvent

(

const common::MouseEvent &

_event

)

Process an object translate mouse press event.

Parameters

[in]

_event

Mouse event.

void gazebo::gui::ModelManipulator::OnMouseReleaseEvent

(

const common::MouseEvent &

_event

)

Process an object translate mouse release event.

Parameters

[in]

_event

Mouse event.

void gazebo::gui::ModelManipulator::RotateEntity	(	rendering::VisualPtr &	_vis,
		const math::Vector3 &	_axis,
		bool	_local = false
	)

Rotate entity.

Parameters

[in]	_vis	Visual representing the entity.
[in]	_axis	Axis of rotation.
[in]	_local	True to apply rotation in local frame.

void gazebo::gui::ModelManipulator::ScaleEntity	(	rendering::VisualPtr &	_vis,
		const math::Vector3 &	_axis,
		bool	_local = false
	)

Scale entity.

Parameters

[in]	_vis	Visual representing the entity.
[in]	_axis	Scaling axis.
[in]	_local	True to apply scaling in local frame.

void gazebo::gui::ModelManipulator::SetAttachedVisual

(

rendering::VisualPtr

_vis

)

Set the visual to be manipulated by the model manipulator.

void gazebo::gui::ModelManipulator::SetManipulationMode

(

const std::string &

_mode

)

Set the manipulation mode.

Parameters

[in]

_mode

Manipulation mode: translate, rotate, or scale.

static math::Vector3 gazebo::gui::ModelManipulator::SnapPoint ( const math::Vector3 &  _point, double  _interval = 1.0, double  _sensitivity = 0.4  )

static

Snap a point at intervals of a fixed distance.

Currently used to give a snapping behavior when moving models with a mouse.

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.

void gazebo::gui::ModelManipulator::TranslateEntity	(	rendering::VisualPtr &	_vis,
		const math::Vector3 &	_axis,
		bool	_local = false
	)

Translate entity.

Parameters

[in]	_vis	Visual representing the entity.
[in]	_axis	Axis of translation.
[in]	_local	True to apply translation in local frame.

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

• ModelManipulator.hh