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Fix FrameView/FrameAligned Controller to track orientation of the frame #1653

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Fix FrameView/FrameAligned Controller to track orientation of the frame #1653

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4 changes: 2 additions & 2 deletions ...ult_plugins/include/rviz_default_plugins/view_controllers/frame/frame_view_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,9 +69,9 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC FrameViewController : public FPSViewController

void reset() override;

void yaw(float angle);
void resetOrientation();

void pitch(float angle);
void update(float dt, float ros_dt) override;

protected:
void onTargetFrameChanged(
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54 changes: 42 additions & 12 deletions ...default_plugins/src/rviz_default_plugins/view_controllers/frame/frame_view_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,15 @@ inline QString fmtAxis(int i)
return QString("%1%2 axis").arg(QChar(i % 2 ? '+' : '-')).arg(QChar('x' + (i - 1) / 2));
}

inline Ogre::Vector3 getAxis(int option)
{
Ogre::Vector3 axis(0, 0, 0);
if (option >= 1 && option <= 6) {
axis[(option - 1) / 2] = (option % 2) ? +1 : -1;
}
return axis;
}

static const Ogre::Quaternion ROBOT_TO_CAMERA_ROTATION =
Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y) *
Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Z);
Expand All @@ -83,6 +92,7 @@ FrameViewController::FrameViewController()
void FrameViewController::onInitialize()
{
FPSViewController::onInitialize();
invert_z_->show();
changedAxis();
}

Expand Down Expand Up @@ -118,7 +128,7 @@ void FrameViewController::setAxisFromCamera()
void FrameViewController::changedAxis()
{
rememberAxis(axis_property_->getOptionInt());
reset();
resetOrientation();
}

inline void FrameViewController::rememberAxis(int current)
Expand All @@ -131,22 +141,42 @@ inline void FrameViewController::rememberAxis(int current)
void FrameViewController::reset()
{
camera_scene_node_->setPosition(Ogre::Vector3::ZERO);
Ogre::Vector3 axis(0, 0, 0);
resetOrientation();
}

void FrameViewController::resetOrientation()
{
int option = previous_axis_;
if (option >= 1 && option <= 6) {
axis[(option - 1) / 2] = (option % 2) ? +1 : -1;
Ogre::Quaternion q;
if (option == 2) { // special case for the -X axis
// Create a rotation of 180 degrees around the Z axis
q = Ogre::Quaternion(Ogre::Radian(Ogre::Math::PI), Ogre::Vector3::UNIT_Z);
} else {
q = Ogre::Vector3::UNIT_X.getRotationTo(axis);
}
camera_scene_node_->setOrientation(q * ROBOT_TO_CAMERA_ROTATION);
Ogre::Quaternion q;
if (option == 2) { // special case for the -X axis
// Create a rotation of 180 degrees around the Z axis
q = Ogre::Quaternion(Ogre::Radian(Ogre::Math::PI), Ogre::Vector3::UNIT_Z);
} else {
Ogre::Vector3 axis = getAxis(option);
q = Ogre::Vector3::UNIT_X.getRotationTo(axis);
}
camera_scene_node_->setOrientation(q * ROBOT_TO_CAMERA_ROTATION);
setPropertiesFromCamera(camera_);
}

void FrameViewController::update(float dt, float ros_dt)
{
FPSViewController::update(dt, ros_dt);

// continuously track the orientation of the reference frame
if (getNewTransform()) {
Ogre::Quaternion quat = reference_orientation_;

// use "z inversion" to switch to flipped frame around current axis
if (invert_z_->getBool()) {
Ogre::Vector3 axis = getAxis(previous_axis_);
quat = quat * Ogre::Quaternion(Ogre::Radian(Ogre::Math::PI), axis);
}

target_scene_node_->setOrientation(quat);
}
}

void FrameViewController::handleMouseEvent(rviz_common::ViewportMouseEvent & event)
{
if (locked_property_->getBool()) {
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