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

#include <gui/Gui.hh>

Inheritance diagram for gazebo::gui::ModelManipulator:

Public Member Functions
void	Detach ()
	Detach the manipulator from an entity. More...

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

void gazebo::gui::ModelManipulator::Detach ( )

Detach the manipulator from an entity.

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.

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

ModelManipulator.hh

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation