Migrate ThirdPersonFollowerViewController

rviz_default_plugins/CMakeLists.txt

@@ -142,6 +142,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/tools/move/move_tool.cpp
   src/rviz_default_plugins/tools/point/point_tool.cpp
   src/rviz_default_plugins/tools/select/selection_tool.cpp
+  src/rviz_default_plugins/view_controllers/follower/third_person_follower_view_controller.cpp
   src/rviz_default_plugins/view_controllers/fps/fps_view_controller.cpp
   src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
   src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
@@ -272,7 +273,7 @@ if(BUILD_TESTING)
     ament_add_gmock(grid_cells_display_test
       test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
       test/rviz_default_plugins/displays/display_test_fixture.cpp
-      test/rviz_default_plugins/scene_graph_introspection.cpp
+      test/rviz_default_plugins/scene_graph_introspection_helper.cpp
       APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_INSTALL_PREFIX} PATH=${CMAKE_INSTALL_PREFIX}/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_assimp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_yaml_cpp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor/bin)
     if(TARGET grid_cells_display_test)
       target_include_directories(grid_cells_display_test PUBLIC
@@ -327,7 +328,7 @@ if(BUILD_TESTING)
     ament_add_gmock(point_display_test
       test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
       test/rviz_default_plugins/displays/display_test_fixture.cpp
-      test/rviz_default_plugins/scene_graph_introspection.cpp)
+      test/rviz_default_plugins/scene_graph_introspection_helper.cpp)
     if(TARGET point_display_test)
       target_include_directories(point_display_test PUBLIC
         ${TEST_INCLUDE_DIRS})
@@ -484,7 +485,7 @@ if(BUILD_TESTING)
       test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
       test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
       test/rviz_default_plugins/displays/display_test_fixture.cpp
-      test/rviz_default_plugins/scene_graph_introspection.cpp
+      test/rviz_default_plugins/scene_graph_introspection_helper.cpp
       APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_INSTALL_PREFIX} PATH=${CMAKE_INSTALL_PREFIX}/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_assimp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_yaml_cpp_vendor/bin;${CMAKE_INSTALL_PREFIX}/opt/rviz_ogre_vendor/bin)
     if(TARGET fps_view_controller_test)
       target_include_directories(fps_view_controller_test PUBLIC

rviz/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.h → rviz_default_plugins/include/rviz_default_plugins/view_controllers/follower/third_person_follower_view_controller.hpp

@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2009, Willow Garage, Inc.
+ * Copyright (c) 2018, Bosch Software Innovations GmbH.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -27,51 +28,28 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef RVIZ_THIRD_PERSON_VIEW_CONTROLLER_H
-#define RVIZ_THIRD_PERSON_VIEW_CONTROLLER_H
-
-#include "rviz/default_plugin/view_controllers/orbit_view_controller.h"
+#ifndef RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__FOLLOWER__THIRD_PERSON_FOLLOWER_VIEW_CONTROLLER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__FOLLOWER__THIRD_PERSON_FOLLOWER_VIEW_CONTROLLER_HPP_
 
 #include <OgreVector3.h>
 
-namespace Ogre
-{
-class SceneNode;
-}
+#include "rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.hpp"
 
-namespace rviz
+namespace rviz_default_plugins
+{
+namespace view_controllers
 {
-
-class TfFrameProperty;
 
 /**
- * \brief Like the orbit view controller, but focal point moves only in the x-y plane.
+ * \brief Like the XY orbit view controller, but turns when the target frame yaws.
  */
-class ThirdPersonFollowerViewController : public OrbitViewController
+class ThirdPersonFollowerViewController : public XYOrbitViewController
 {
-Q_OBJECT
-public:
-  virtual void onInitialize();
-
-  virtual void handleMouseEvent(ViewportMouseEvent& evt);
-
-  virtual void lookAt( const Ogre::Vector3& point );
-
-  /** @brief Configure the settings of this view controller to give,
-   * as much as possible, a similar view as that given by the
-   * @a source_view.
-   *
-   * @a source_view must return a valid @c Ogre::Camera* from getCamera(). */
-  virtual void mimic( ViewController* source_view );
-
 protected:
-  virtual void updateCamera();
-
-  virtual void updateTargetSceneNode();
-
-  bool intersectGroundPlane( Ogre::Ray mouse_ray, Ogre::Vector3 &intersection_3d );
+  void updateTargetSceneNode() override;
 };
 
-}
+}  // namespace view_controllers
+}  // namespace rviz_default_plugins
 
-#endif // RVIZ_VIEW_CONTROLLER_H
+#endif  // RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__FOLLOWER__THIRD_PERSON_FOLLOWER_VIEW_CONTROLLER_HPP_

rviz_default_plugins/plugins_description.xml

@@ -270,4 +270,12 @@
       Makes it easy to move around a given point on the XY plane, looking at it from any angle.
     </description>
   </class>
+  <class
+    name="rviz_default_plugins/ThirdPersonFollower"
+    type="rviz_default_plugins::view_controllers::ThirdPersonFollowerViewController"
+    base_class_type="rviz_common::ViewController">
+    <description>
+      Follow a target frame and turn the viewing direction with the yaw of the target frame.
+    </description>
+  </class>
 </library>