OrbitViewController.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _ORBITVIEWCONTROLLER_HH_
#define _ORBITVIEWCONTROLLER_HH_

#include <string>

#include <ignition/math/Vector3.hh>

#include "gazebo/rendering/Visual.hh"
#include "gazebo/rendering/ViewController.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE OrbitViewController : public ViewController
    {
      public: OrbitViewController(UserCameraPtr _camera,
                  const std::string &_name = "OrbitViewController");

      public: virtual ~OrbitViewController();

      public: virtual void Init();

      // Documentation inherited
      public: virtual void Init(const math::Vector3 &_focalPoint,
                  const double _yaw = 0, const double _pitch = 0);

      public: virtual void Update();

      public: virtual void HandleMouseEvent(const common::MouseEvent &_event);

      public: static std::string GetTypeString();

      public: void SetDistance(float _d);

      public: void SetFocalPoint(const math::Vector3 &_fp);

      public: math::Vector3 GetFocalPoint() const;

      // Documentation inherited from parent
      public: void HandleKeyReleaseEvent(const std::string &_key);

      // Documentation inherited from parent
      public: virtual void HandleKeyPressEvent(const std::string &_key);

      public: double Pitch() const;

      public: double Yaw() const;

      protected: void TranslateLocal(const math::Vector3 &_vec);

      protected: void TranslateGlobal(const math::Vector3 &_vec);

      protected: void Zoom(float _amount);

      protected: double NormalizeYaw(double _v);

      protected: double NormalizePitch(double _v);

      protected: void UpdateRefVisual();

      protected: void Orbit(double _dy, double _dp);

      protected: float yaw;

      protected: float pitch;

      protected: float distance;

      protected: VisualPtr refVisual;

      protected: std::string key;

      protected: bool init;

      protected: ignition::math::Vector3d focalPoint;
    };
  }
}
#endif