Public Member Functions | Static Public Member Functions | List of all members
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:
Inheritance graph
[legend]

Public Member Functions

void Clear ()
 Clear the model manipulator. More...
 
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::Clear ( )

Clear the model manipulator.

This explicity cleans up the internal state of the singleton and prepares it for exit.

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]_cameraPointer to user camera.
[in]_startStart point.
[in]_endEnd point.
[in]_posePose of origin.
[in]_axisMovement axis.
[in]_localTrue 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]_eventKey event.
void gazebo::gui::ModelManipulator::OnKeyReleaseEvent ( const common::KeyEvent _event)

Process a key release event.

Parameters
[in]_eventKey event.
void gazebo::gui::ModelManipulator::OnMouseMoveEvent ( const common::MouseEvent _event)

Process an object translate mouse move event.

Parameters
[in]_eventMouse event.
void gazebo::gui::ModelManipulator::OnMousePressEvent ( const common::MouseEvent _event)

Process an object translate mouse press event.

Parameters
[in]_eventMouse event.
void gazebo::gui::ModelManipulator::OnMouseReleaseEvent ( const common::MouseEvent _event)

Process an object translate mouse release event.

Parameters
[in]_eventMouse event.
void gazebo::gui::ModelManipulator::RotateEntity ( rendering::VisualPtr _vis,
const math::Vector3 _axis,
bool  _local = false 
)

Rotate entity.

Parameters
[in]_visVisual representing the entity.
[in]_axisAxis of rotation.
[in]_localTrue 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]_visVisual representing the entity.
[in]_axisScaling axis.
[in]_localTrue 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]_modeManipulation 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]_pointInput point.
[in]_intervalFixed distance interval at which the point is snapped.
[in]_sensitivitySensitivity 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]_visVisual representing the entity.
[in]_axisAxis of translation.
[in]_localTrue to apply translation in local frame.

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