pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/rendering/OculusCamera.hh

/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_OCULUS_CAMERA_HH_
#define _GAZEBO_OCULUS_CAMERA_HH_

#include <string>

#include "gazebo/rendering/Camera.hh"

namespace gazebo
{
  namespace rendering
  {
    class OculusCameraPrivate;

    /// \addtogroup gazebo_rendering
    /// \{

    /// \class OculusCamera OculusCamera.hh rendering/rendering.hh
    /// \brief A camera used for user visualization of a scene
    class GZ_RENDERING_VISIBLE OculusCamera : public Camera
    {
      /// \brief Constructor
      /// \param[in] _name Name of the camera.
      /// \param[in] _scene Scene to put the camera in.
      public: OculusCamera(const std::string &_name, ScenePtr _scene);

      /// \brief Destructor
      public: virtual ~OculusCamera();

      /// \brief Load the user camera.
      /// \param[in] _sdf Parameters for the camera.
      public: void Load(sdf::ElementPtr _sdf);

      /// \brief Generic load function
      public: void Load();

      /// \brief Initialize
      public: void Init();

      /// \brief Render the camera
      public: virtual void Update();

      /// \brief Post render
      public: virtual void PostRender();

      /// \brief Finialize
      public: void Fini();

      /// \brief Resize the camera.
      /// \param[in] _w Width of the camera image.
      /// \param[in] _h Height of the camera image.
      public: void Resize(unsigned int _w, unsigned int _h);

      /// \brief Move the camera to focus on a visual.
      /// \param[in] _visual Visual to move the camera to.
      public: void MoveToVisual(VisualPtr _visual);

      // Doxygen automatically pulls in the correct documentation.
      public: virtual bool MoveToPosition(const math::Pose &_pose,
                                          double _time);

      /// \brief Move the camera to focus on a visual.
      /// \param[in] _visualName Name of the visual to move the camera to.
      public: void MoveToVisual(const std::string &_visualName);

      /// \brief Set to true to enable rendering
      ///
      /// Use this only if you really know what you're doing.
      /// \param[in] _target The new rendering target.
      public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);

      /// \brief Change screen aspect ratio.
      /// \param[in] _v Aspect ratio.
      public: void AdjustAspect(double _v);

      // Documentation inherited
      public: virtual unsigned int GetImageWidth() const;

      // Documentation inherited
      public: virtual unsigned int GetImageHeight() const;

      /// \brief Reset the Oculus Rift sensor orientation.
      public: void ResetSensor();

      /// \brief Used to check if Oculus is plugged in and can be used.
      /// \return True when Oculus is ready to use.
      public: bool Ready();

      // Documentation inherited
      protected: virtual void RenderImpl();

      /// \brief Set the camera to be attached to a visual.
      ///
      /// This causes the camera to move in relation to the specified visual.
      /// \param[in] _visual The visual to attach to.
      /// \param[in] _inheritOrientation True if the camera should also
      /// rotate when the visual rotates.
      /// \param[in] _minDist Minimum distance the camera can get to the
      /// visual.
      /// \param[in] _maxDist Maximum distance the camera can get from the
      /// visual.
      /// \return True if successfully attach to the visual.
      protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
                     bool _inheritOrientation, double _minDist = 0,
                     double _maxDist = 0);

      /// \brief Set the camera to track a scene node.
      ///
      /// Tracking just causes the camera to rotate to follow the visual.
      /// \param[in] _visual Visual to track.
      /// \return True if the camera is now tracking the visual.
      protected: virtual bool TrackVisualImpl(VisualPtr _visual);

      /// \brief Receive world control messages. Used to reset the oculus
      /// sensor.
      private: void OnControl(ConstWorldControlPtr &_data);

      /// \brief Apply distorsion to the render target.
      private: void Oculus();

      /// \internal
      /// \brief Pointer to private data.
      private: OculusCameraPrivate *dataPtr;
    };
    /// \}
  }
}
#endif