UserCamera.hh

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/*
 * Copyright (C) 2012 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 GAZEBO_RENDERING_USERCAMERA_HH_
#define GAZEBO_RENDERING_USERCAMERA_HH_

#include <string>
#include <vector>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector2.hh>

#include "gazebo/math/Pose.hh"
#include "gazebo/math/Vector2i.hh"
#include "gazebo/rendering/Camera.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    class MouseEvent;
  }

  // Forward declare private data
  class UserCameraPrivate;

  namespace rendering
  {

    class GZ_RENDERING_VISIBLE UserCamera : public Camera
    {
      public: UserCamera(const std::string &_name, ScenePtr _scene,
                  bool _stereoEnabled = false);

      public: virtual ~UserCamera();

      public: void Load(sdf::ElementPtr _sdf);

      // Documentation inherited
      public: virtual void SetClipDist(const float _near, const float _far);
      using Camera::SetClipDist;

      public: void Load();

      public: void Init();

      public: virtual void Update();

      public: virtual void Render(const bool _force = false);
      using Camera::Render;

      public: virtual void PostRender();

      public: void Fini();

      // Documentation inherited.
      public: virtual void SetWorldPose(const math::Pose &_pose)
              GAZEBO_DEPRECATED(8.0);

      // Documentation inherited.
      public: virtual void SetWorldPose(const ignition::math::Pose3d &_pose);

      public: void SetDefaultPose(const math::Pose &_pose)
              GAZEBO_DEPRECATED(8.0);

      public: void SetInitialPose(const ignition::math::Pose3d &_pose);

      public: math::Pose DefaultPose() const GAZEBO_DEPRECATED(8.0);

      public: ignition::math::Pose3d InitialPose() const;

      public: void HandleMouseEvent(const common::MouseEvent &_evt);

      public: void HandleKeyPressEvent(const std::string &_key);

      public: void HandleKeyReleaseEvent(const std::string &_key);

      public: void SetViewController(const std::string &_type);

      public: void SetViewController(const std::string &_type,
                                     const ignition::math::Vector3d &_pos);


      public: void SetViewController(const std::string &_type,
                            const math::Vector3 &_pos) GAZEBO_DEPRECATED(8.0);

      public: std::string GetViewControllerTypeString();

      public: void Resize(unsigned int _w, unsigned int _h);

      public: void SetViewportDimensions(float _x, float _y,
                                         float _w, float _h);

      public: void MoveToVisual(VisualPtr _visual);

      public: void MoveToVisual(const std::string &_visualName);

      public: void SetDevicePixelRatio(const double _ratio);

      public: double DevicePixelRatio() const;

      // Documentation Inherited
      public: virtual void CameraToViewportRay(const int _screenx,
                  const int _screeny,
                  ignition::math::Vector3d &_origin,
                  ignition::math::Vector3d &_dir) const;

      public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);

      public: void EnableViewController(bool _value) const;

      public: VisualPtr GetVisual(const math::Vector2i &_mousePos,
                  std::string &_mod) GAZEBO_DEPRECATED(8.0);

      public: VisualPtr GetVisual(const math::Vector2i &_mousePos) const
              GAZEBO_DEPRECATED(8.0);

      public: void SetFocalPoint(const math::Vector3 &_pt)
              GAZEBO_DEPRECATED(8.0);

      public: VisualPtr Visual(const ignition::math::Vector2i &_mousePos,
                  std::string &_mod) const;

      public: VisualPtr Visual(
                  const ignition::math::Vector2i &_mousePos) const;

      public: void SetFocalPoint(const ignition::math::Vector3d &_pt);

      // Documentation inherited
      public: virtual unsigned int GetImageWidth() const;

      // Documentation inherited
      public: virtual unsigned int GetImageHeight() const;

      public: bool IsCameraSetInWorldFile();

      public: void SetUseSDFPose(bool _value);

      public: void SetJoyTwistControl(bool _value);

      public: void SetJoyPoseControl(bool _value);

      public: bool StereoEnabled() const;

      public: void EnableStereo(bool _enable);

      // Documentation inherited.
      public: virtual bool SetProjectionType(const std::string &_type);

      // Documentation inherited.
      public: virtual ignition::math::Vector2i Project(
          const ignition::math::Vector3d &_pt) const;

      protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
                     const bool _inheritOrientation, const double _minDist = 0,
                     const double _maxDist = 0);
      using Camera::AttachToVisualImpl;

      // Documentation inherited.
      protected: virtual void AnimationComplete();

      protected: virtual bool TrackVisualImpl(VisualPtr _visual);

      // Documentation inherited.
      protected: virtual void UpdateFOV();

      private: void ToggleShowVisual();

      private: void ShowVisual(bool _show);

      private: void OnMoveToVisualComplete();

      private: void OnJoyTwist(ConstJoystickPtr &_msg);

      private: void OnJoyPose(ConstPosePtr &_msg);

      private: UserCameraPrivate *dataPtr;
    };
  }
}
#endif