PoseTool.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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 * Commercial Usage:
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#ifndef _MIRA_POSETOOL_H_
#define _MIRA_POSETOOL_H_

#ifndef Q_MOC_RUN
#include <OGRE/OgreRenderWindow.h>
#include <OGRE/OgreSceneManager.h>
#endif

#include <transform/Pose.h>

#include <visualization/3d/SceneQueryTool.h>
#include <visualization/3d/AxesCovObject.h>
#include <visualization/3d/CovObject.h>

namespace mira {


class MIRA_GUI_VISUALIZATION_EXPORT PoseTool : public SceneQueryTool
{
    enum SelectionMode
    {
        Position,
        PositionVariance,
        Orientation,
        OrientationVariance,
    };

    enum InputMode
    {
        PoseInput,
        PositionInput,
        OrientationInput
    };

public:
    struct InputModePosition {};
    struct InputModeOrientation {};

public:

    PoseTool(float minPositionVariance = 0.1f,
             float minOrientationVariance = 0.25f);

    PoseTool(const InputModePosition&,
             float minPositionVariance = 0.1f,
             float minOrientationVariance = 0.25f);

    PoseTool(const InputModeOrientation&,
             float minOrientationVariance = 0.25f,
             float minPositionVariance = 0.1f);

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SceneQueryTool);
        // TODO: remove these conditions if InputMode is made mutable at runtime
        if ((mInputMode == PoseInput) || (mInputMode == PositionInput)) {
            r.property("MinPositionVariance", mMinPositionVariance,
                       "The smallest allowed position variance.", 0.1f,
                       PropertyHints::minimum(0.001f));
        }
        if ((mInputMode == PoseInput) || (mInputMode == OrientationInput)) {
            r.property("MinOrientationVariance", mMinOrientationVariance,
                       "The smallest allowed orientation variance.", 0.25f,
                       PropertyHints::minimum(0.001f));
        }
    }

public:
    virtual void onMousePressed(QMouseEvent* e);

    virtual void onMouseReleased(QMouseEvent* e);

    virtual void onMouseMoved(QMouseEvent* e);


protected:

    virtual void setupScene(IVisualization3DSite* site);


protected:

    virtual void onNewPose(const PoseCov2& pose) {}

    virtual void onNewPosition(const Point2f& position,
                               float xRange, float yRange) {}

    virtual void onNewOrientation(const Anglef& orientation,
                                  float range) {}

private:

    std::pair<std::string, Ogre::Vector3> getIntersection(float x, float y,
                                                          const std::string& mask="");

    void showCovariances(const PoseCov2::CovMatrixType& cov);

private:

    boost::shared_ptr<AxesObject> mAxesObject;
    boost::shared_ptr<AxesCovObject> mAxesCovObject;
    boost::shared_ptr<CovObject> mCovObject;
    SelectionMode mSelectionMode;
    std::string mSelectedObject;
    Ogre::Vector3 mLastPos;
    QPoint mLastGlobalPos;
    bool mIsValid;

    const InputMode mInputMode; // for now this is fixed, set at construction
    float mMinPositionVariance;
    float mMinOrientationVariance;

    PoseCov2 mPose;
};


}

#endif