Robotsystem from Robot Group Leipzig: cameramanipulatorTV.cpp Source File

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# cameramanipulatorTV.cpp

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.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  *                                                                         *
    00025  *   $Log: cameramanipulatorTV.cpp,v $
    00026  *   Revision 1.1.2.6  2006/03/19 13:36:52  robot3
    00027  *   race mode now works
    00028  *
    00029  *   Revision 1.1.2.5  2006/03/18 13:54:42  robot3
    00030  *   syntax error fix
    00031  *
    00032  *   Revision 1.1.2.4  2006/03/18 13:49:05  robot3
    00033  *   TV mode works now, the appropiate pan and tilt are calculated
    00034  *
    00035  *   Revision 1.1.2.3  2006/03/06 16:57:53  robot3
    00036  *   minor changes
    00037  *
    00038  *   Revision 1.1.2.2  2006/03/03 12:08:50  robot3
    00039  *   preparations made for new cameramanipulators
    00040  *
    00041  *   Revision 1.1.2.1  2006/02/01 10:24:34  robot3
    00042  *   new camera manipulator added
    00043  *
    00044  *                                                                         *
    00045  ***************************************************************************/
    00046
    00047 #include <osg/Notify>
    00048 #include "cameramanipulatorTV.h"
    00049 #include "mathutils.h"
    00050 #include "pos.h"
    00051 #include <stdio.h>
    00052
    00053
    00054 #define square(x) ((x)*(x))
    00055
    00056 namespace lpzrobots {
    00057
    00058   using namespace osg;
    00059   using namespace osgGA;
    00060
    00061   CameraManipulatorTV::CameraManipulatorTV(osg::Node* node,GlobalData& global)
    00062     : CameraManipulator(node,global) {}
    00063
    00064   CameraManipulatorTV::~CameraManipulatorTV(){}
    00065
    00066
    00067   void CameraManipulatorTV::calcMovementByAgent() {
    00068     if (watchingAgent!=NULL) {
    00069       // the actual position of the agent has to be recognized
    00070       // we use the Position getPosition() from OdeRobot
    00071       Position robPos = watchingAgent->getRobot()->getPosition();
    00072       // desiredEye is the position of the camera
    00073       // calculate the horizontal angle, means pan (view.x)
    00074       if (robPos.x-desiredEye[0]!=0) { // division by zero
    00075         desiredView[0]= atan((desiredEye[0]-robPos.x)/(robPos.y-desiredEye[1]))
    00076           / PI*180.0f+180.0f;
    00077         if (desiredEye[1]-robPos.y<0) // we must switch
    00078                   desiredView[0]+=180.0f;
    00079       }
    00080       // calculate the vertical angle
    00081       if (robPos.z-desiredEye[2]!=0) { // division by zero
    00082         // need dz and sqrt(dx^2+dy^2) for calulation
    00083         desiredView[1]=-atan((sqrt(square(desiredEye[0]-robPos.x)+
    00084                                   square(desiredEye[1]-robPos.y)))
    00085                             /(robPos.z-desiredEye[2]))
    00086           / PI*180.0f-90.0f;
    00087         if (desiredEye[2]-robPos.z<0) // we must switch
    00088           desiredView[1]+=180.0f;
    00089       }
    00090     }
    00091   }
    00092
    00093
    00094     void CameraManipulatorTV::setHomeViewByAgent() {
    00095     // the default camera manipulator does not need to change the view
    00096     // normally the desired view should be changed
    00097   }
    00098
    00099
    00100   void CameraManipulatorTV::setHomeEyeByAgent() {
    00101     // the default camera manipulator does not need to change the eye
    00102     // normally the desired eye should be changed
    00103   }
    00104 }