Robot Simulator of the Robotics Group for Self-Organization of Control: camerahandle.h Source File

# camerahandle.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef _CAMERAHANDLE_H_
    00025 #define _CAMERAHANDLE_H_
    00026
    00027
    00028 #include <selforg/position.h>
    00029 #include <osg/Vec3f>
    00030
    00031 // forward declarations
    00032 namespace lpzrobots
    00033 {
    00034   class OSGPrimitive;
    00035   class OdeAgent;
    00036 }
    00037
    00038 namespace osg
    00039 {
    00040   class Vec3f;
    00041   typedef Vec3f Vec3;
    00042   class Camera;
    00043 }
    00044
    00045 namespace lpzrobots
    00046 {
    00047
    00048   /**
    00049    * Class which holds all data used by CameraManipulators.
    00050    * The avoidance of static variables enables multithreaded (tasked)
    00051    * simulations.
    00052    */
    00053   class CameraHandle
    00054   {
    00055   public:
    00056     enum ManipulationType { No, Translational, TranslationalHorizontal , Rotational};
    00057
    00058     osg::Vec3 eye;
    00059     osg::Vec3 view;
    00060     osg::Vec3 home_eye;
    00061     osg::Vec3 home_view;
    00062     osg::Vec3 desiredEye;
    00063     osg::Vec3 desiredView;
    00064     bool home_externally_set;
    00065     OdeAgent* watchingAgent;
    00066     bool watchingAgentDefined;
    00067     Position oldPositionOfAgent;
    00068     bool oldPositionOfAgentDefined;
    00069
    00070     ManipulationType doManipulation;
    00071     osg::Vec3 manipulationPoint;
    00072     OSGPrimitive* manipulationViz;
    00073     double manipulationForce;
    00074
    00075     osg::Camera* cam;
    00076
    00077     CameraHandle();
    00078
    00079     virtual ~CameraHandle();
    00080   };
    00081
    00082 }
    00083
    00084 #endif /* _CAMERAHANDLE_H_ */