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ObserverCam.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: An Observer camera model 00022 * Author: Nate Koenig 00023 * Date: 20 May 2004 00024 * CVS: $Id: ObserverCam.hh,v 1.13 2004/11/15 22:19:45 inspectorg Exp $ 00025 */ 00026 00027 #ifndef OBSERVERCAM_HH 00028 #define OBSERVERCAM_HH 00029 00030 #include "Model.hh" 00031 00032 class Camera; 00033 class ObserverWindow; 00034 class HUDElementText; 00035 typedef struct gz_guicam gz_guicam_t; 00036 00037 00038 class ObserverCam : public Model 00039 { 00040 // Constructor 00041 public: ObserverCam( World *world); 00042 00043 // Destructor 00044 public: virtual ~ObserverCam(); 00045 00046 // Load the model 00047 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00048 00049 // Initialize the model 00050 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00051 00052 // Finalize the model 00053 public: virtual int Fini(); 00054 00055 // Update the model state 00056 public: virtual void Update( double step ); 00057 00058 // Get camera commands 00059 private: void GetCameraCmd(); 00060 00061 // Send camera data 00062 private: void PutCameraData(); 00063 00064 // Time in seconds between updates 00065 private: double updatePeriod; 00066 00067 // The time the last update occured 00068 private: double lastSimTime; 00069 private: double lastPauseTime; 00070 00071 // A dummy body (every model must have one) 00072 private: Body *body; 00073 00074 // Camera sensor 00075 private: Camera *camera; 00076 00077 // Interface 00078 private: gz_guicam_t *guicam; 00079 00080 // Spot state (tracking, not tracking) 00081 private: int cmdSpotState, lastSpotState; 00082 00083 // Spot mode (translation, zoom, rotation) 00084 private: int cmdSpotMode; 00085 00086 // Commanded spot transform 00087 private: GzVector cmdSpotA, cmdSpotB; 00088 00089 // Initial pose 00090 private: GzPose initialPose; 00091 00092 // Lock out roll changes? 00093 private: bool rollLock; 00094 00095 // Save frames to disk? 00096 private: bool saveFrames; 00097 00098 // Current rendering options 00099 private: RenderOptions renderOpt; 00100 }; 00101 00102 #endif
