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cpplint pass over camera related cpp/h files
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@wjwwood
wjwwood committed Aug 31, 2017
1 parent a134d02 commit a8bbde2
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288 changes: 169 additions & 119 deletions rviz_rendering/include/rviz_rendering/camera_base.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2017, Open Source Robotics Foundation, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -27,8 +28,10 @@
* POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef OGRE_TOOLS_CAMERA_BASE_H_
#define OGRE_TOOLS_CAMERA_BASE_H_
#ifndef RVIZ_RENDERING__CAMERA_BASE_HPP_
#define RVIZ_RENDERING__CAMERA_BASE_HPP_

#include <string>

#include <OgreVector3.h>
#include <OgreQuaternion.h>
Expand All @@ -40,188 +43,235 @@ class SceneNode;
class SceneManager;
}

namespace rviz
namespace rviz_rendering
{

/// Generic interface for a camera.
/**
* \class CameraBase
* \brief Generic interface for a camera
*
* Provides a interface that a camera can override, providing interchangeability between different camera types.
* Provides a interface that a camera can override,
* providing interchangeability between different camera types.
* Specific implementation is left to the child class.
*/
class CameraBase
{
public:
/**
* \brief Constructor
* @param scene_manager Scene manager this camera is displaying
* \param scene_manager Scene manager this camera is displaying
*/
CameraBase(Ogre::SceneManager * scene_manager);
explicit CameraBase(Ogre::SceneManager * scene_manager);
virtual ~CameraBase();

/// Get the Ogre camera associated with this camera object.
/**
* \brief Get the Ogre camera associated with this camera object
* @return The Ogre camera associated with this camera object
* \return The Ogre camera associated with this camera object
*/
Ogre::Camera * getOgreCamera() {return camera_; }
Ogre::Camera *
getOgreCamera() {return camera_; }

/// Set a scene node that all camera transformations should be relative to.
/**
* \brief Set a scene node that all camera transformations should be relative to
* @param node The node
*/
void setRelativeNode(Ogre::SceneNode * node);
/**
* \brief Called when the relative node changes
* \param node The node
*/
virtual void relativeNodeChanged() {}
void
setRelativeNode(Ogre::SceneNode * node);

virtual void update() = 0;
/// Called when the relative node changes.
virtual
void
relativeNodeChanged() {}

/**
* \brief Set the position of the camera
*/
virtual void setPosition(const Ogre::Vector3 & position);
/**
* \brief Set the orientation of the camera
*/
virtual void setOrientation(const Ogre::Quaternion & orientation);
virtual
void
update() = 0;

/// Set the position of the camera.
virtual
void
setPosition(const Ogre::Vector3 & position);

/// Set the orientation of the camera.
virtual
void
setOrientation(const Ogre::Quaternion & orientation);

/// Yaw the camera.
/**
* \brief Yaw the camera.
*
* Calls to yaw are cumulative, so:
* yaw(PI);
* yaw(PI);
*
* is equivalent to
* yaw(2*PI);
*
* @param angle Angle to yaw, in radians
* \param angle Angle to yaw, in radians
*/
virtual void yaw(float angle) = 0;
/**
* \brief Pitch the camera.
*
* Calls to pitch are cumulative, so:
* pitch(PI);
* pitch(PI);
*
* is equivalent to
* pitch(2*PI);
*
* @param angle Angle to pitch, in radians
*/
virtual void pitch(float angle) = 0;
/**
* \brief Roll the camera.
*
* Calls to roll are cumulative, so:
* roll(PI);
* roll(PI);
*
* is equivalent to
* roll(2*PI);
*
* @param angle Angle to roll, in radians
*/
virtual void roll(float angle) = 0;
virtual
void
yaw(float angle) = 0;

/// Pitch the camera.
/**
* \brief Set the orientation of the camera from a quaternion
*/
virtual void setOrientation(float x, float y, float z, float w) = 0;
/**
* \brief Set the position of the camera
* Calls to pitch are cumulative, so:
* pitch(PI);
* pitch(PI);
*
* is equivalent to
* pitch(2*PI);
*
* \param angle Angle to pitch, in radians
*/
virtual void setPosition(float x, float y, float z) = 0;
virtual
void
pitch(float angle) = 0;

/// Roll the camera.
/**
* \brief Set the position/orientation of this camera from another camera.
* Calls to roll are cumulative, so:
* roll(PI);
* roll(PI);
*
* @param camera The camera to set from
* is equivalent to
* roll(2*PI);
*
* @param angle Angle to roll, in radians
*/
virtual void setFrom(CameraBase * camera) = 0;
virtual
void
roll(float angle) = 0;

/// Set the orientation of the camera from a quaternion.
virtual
void
setOrientation(float x, float y, float z, float w) = 0;

/// Set the position of the camera.
virtual
void
setPosition(float x, float y, float z) = 0;

/// Set the position/orientation of this camera from another camera.
/**
* \brief Get the position of this camera
* @return The position of this camera
* \param camera The camera to set from
*/
virtual Ogre::Vector3 getPosition() = 0;
virtual
void
setFrom(CameraBase * camera) = 0;

/// Get the position of this camera.
/**
* \brief Get the orientation of this camera
* @return The orientation of this camera
* \return The position of this camera
*/
virtual Ogre::Quaternion getOrientation() = 0;
virtual
Ogre::Vector3
getPosition() = 0;

/// Get the orientation of this camera.
/**
* \brief Point the camera at the specified point
* @param point The point to look at
* \return The orientation of this camera
*/
virtual void lookAt(const Ogre::Vector3 & point) = 0;
virtual
Ogre::Quaternion
getOrientation() = 0;

/// Point the camera at the specified point.
/**
* \brief Move the camera relative to its orientation
*
* @param x Distance to move along the X-axis
* @param y Distance to move along the Y-axis
* @param z Distance to move along the Z-axis
* \param point The point to look at
*/
virtual void move(float x, float y, float z) = 0;

virtual void mouseLeftDown(int x, int y) {}
virtual void mouseMiddleDown(int x, int y) {}
virtual void mouseRightDown(int x, int y) {}
virtual void mouseLeftUp(int x, int y) {}
virtual void mouseMiddleUp(int x, int y) {}
virtual void mouseRightUp(int x, int y) {}
virtual
void
lookAt(const Ogre::Vector3 & point) = 0;

/// Move the camera relative to its orientation.
/**
* \brief Handle a left mouse button drag
*
* @param diff_x Pixels the mouse has moved in the (window space) x direction
* @param diff_y Pixels the mouse has moved in the (window space) y direction
* \param x Distance to move along the X-axis
* \param y Distance to move along the Y-axis
* \param z Distance to move along the Z-axis
*/
virtual void mouseLeftDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;
virtual
void
move(float x, float y, float z) = 0; // NOLINT: cpplint thinks this is std::move

virtual
void
mouseLeftDown(int x, int y) {(void)x; (void)y;}

virtual
void
mouseMiddleDown(int x, int y) {(void)x; (void)y;}

virtual
void
mouseRightDown(int x, int y) {(void)x; (void)y;}

virtual
void
mouseLeftUp(int x, int y) {(void)x; (void)y;}

virtual
void
mouseMiddleUp(int x, int y) {(void)x; (void)y;}

virtual
void
mouseRightUp(int x, int y) {(void)x; (void)y;}


/// Handle a left mouse button drag.
/**
* \brief Handle a middle mouse button drag
*
* @param diff_x Pixels the mouse has moved in the (window space) x direction
* @param diff_y Pixels the mouse has moved in the (window space) y direction
* \param diff_x Pixels the mouse has moved in the (window space) x direction
* \param diff_y Pixels the mouse has moved in the (window space) y direction
*/
virtual void mouseMiddleDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;
virtual
void
mouseLeftDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;

/// Handle a middle mouse button drag.
/**
* \brief Handle a right mouse button drag
*
* @param diff_x Pixels the mouse has moved in the (window space) x direction
* @param diff_y Pixels the mouse has moved in the (window space) y direction
* \param diff_x Pixels the mouse has moved in the (window space) x direction
* \param diff_y Pixels the mouse has moved in the (window space) y direction
*/
virtual void mouseRightDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;
virtual
void
mouseMiddleDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;

/// Handle a right mouse button drag.
/**
* \brief Handle a scrollwheel change
*
* @param diff Number of "units" the scrollwheel has moved
* @todo Probably need to pass in how many units there are in a "click" of the wheel
* \param diff_x Pixels the mouse has moved in the (window space) x direction
* \param diff_y Pixels the mouse has moved in the (window space) y direction
*/
virtual void scrollWheel(int diff, bool ctrl, bool alt, bool shift) = 0;
virtual
void
mouseRightDrag(int diff_x, int diff_y, bool ctrl, bool alt, bool shift) = 0;

/// Handle a scrollwheel change.
/**
* \brief Loads the camera's configure from the supplied string (generated through toString())
* @param str The string to load from
* \param diff Number of "units" the scrollwheel has moved
* \todo Probably need to pass in how many units there are in a "click" of the wheel
*/
virtual void fromString(const std::string & str) = 0;
virtual
void
scrollWheel(int diff, bool ctrl, bool alt, bool shift) = 0;

/// Load the camera's configure from the supplied string (generated through toString()).
/**
* \brief Returns a string representation of the camera's configuration
* \param str The string to load from
*/
virtual std::string toString() = 0;
virtual
void
fromString(const std::string & str) = 0;

/// Return a string representation of the camera's configuration.
virtual
std::string
toString() = 0;

protected:
Ogre::Camera * camera_; ///< Ogre camera associated with this camera object
Ogre::SceneManager * scene_manager_; ///< Scene manager this camera is part of
Ogre::Camera * camera_; ///< Ogre camera associated with this camera object
Ogre::SceneManager * scene_manager_; ///< Scene manager this camera is part of

Ogre::SceneNode * relative_node_;
};

} // namespace rviz
} // namespace rviz_rendering

#endif /*OGRE_TOOLS_CAMERA_BASE_H_*/
#endif // RVIZ_RENDERING__CAMERA_BASE_HPP_
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