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

#include <gui/Gui.hh>

Inheritance diagram for gazebo::gui::ModelManipulator:

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]	_camera	Pointer to user camera.
[in]	_start	Start point.
[in]	_end	End point.
[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