Visualizer: scripted_camera.H Source File

00001 #ifndef CAJUN_CBVIZ_SCRIPTED_CAMERA_H
00002 #define CAJUN_CBVIZ_SCRIPTED_CAMERA_H
00003 
00004 #include "cbviz_util.H"
00005 #include "conf.H"
00006 #include "spline.H"
00007 #include "component_interface.H"
00008 #include "events.H"
00009 #include <queue>
00010 
00011 using namespace std;
00012 
00013 namespace cajun
00014 {
00015         enum camera_style_t {CAMERA_AT_ORIGIN, CAMERA_IN_CAR,
00016                              CAMERA_WITH_CAR, CAMERA_FOCUS_CAR};
00017 
00021         struct scripted_camera_data_t
00022         {
00024                 double tstamp;
00026                 camera_style_t style;
00028                 double eye_x;
00030                 double eye_y;
00032                 double eye_z;
00034                 double ctr_x;
00036                 double ctr_y;
00038                 double ctr_z;
00039         };
00040 
00041         class scripted_camera_t : public component_interface_t
00042         {
00043         public:
00044                 scripted_camera_t (conf_t &conf, world_state_t *ws_,
00045                                    char const *camera_script_file,
00046                                    bool static_mode);
00047                 void init_data ();
00048                 void update_data (double bot_pos[3]);
00049                 void display (double bot_pos[3]) {};
00050                 void toggle_display () {};
00051 
00052                 void print_data ();
00053                 void print_head ();
00054                 void print_tail ();
00055                 unsigned size ();
00056                 bool empty ();
00057                 scripted_camera_data_t head ();
00058                 void pop ();
00059                 bool set_elem_free (
00060                         scripted_camera_data_t &data,
00061                         bool abs_tstamp,
00062                         double tstamp,
00063                         double eye_x,
00064                         double eye_y,
00065                         double eye_z,
00066                         double ctr_x,
00067                         double ctr_y,
00068                         double ctr_z);
00069                 bool set_elem_follow (
00070                         scripted_camera_data_t &data,
00071                         bool abs_tstamp,
00072                         double tstamp,
00073                         double eye_x,
00074                         double eye_y,
00075                         double eye_z);
00076                 bool set_elem_focus (
00077                         scripted_camera_data_t &data,
00078                         bool abs_tstamp,
00079                         double tstamp,
00080                         double eye_x,
00081                         double eye_y,
00082                         double eye_z);
00083                 bool set_elem_inside (
00084                         scripted_camera_data_t &data,
00085                         bool abs_tstamp,
00086                         double tstamp,
00087                         double rotation_angle,
00088                         double elevation_angle);
00089 
00090                 // spline_pts is an array of 12 elems, 4 sets of
00091                 // 3d points flattened out (x1,y1,z1,x2,...)
00092                 // and these points are the spline control points
00093                 bool set_elems_free_spline (
00094                         queue<scripted_camera_data_t> &data,
00095                         bool abs_tstamp_beg,
00096                         double tstamp_beg,
00097                         bool abs_tstamp_end,
00098                         double tstamp_end,
00099                         double eye_spline_pts[12],
00100                         double ctr_spline_pts[12]);
00101                 bool set_elems_follow_spline (
00102                         queue<scripted_camera_data_t> &data,
00103                         bool abs_tstamp_beg,
00104                         double tstamp_beg,
00105                         bool abs_tstamp_end,
00106                         double tstamp_end,
00107                         double spline_pts[12]);
00108                 bool set_elems_focus_spline (
00109                         queue<scripted_camera_data_t> &data,
00110                         bool abs_tstamp_beg,
00111                         double tstamp_beg,
00112                         bool abs_tstamp_end,
00113                         double tstamp_end,
00114                         double spline_pts[12]);
00115                 // spline_pts is an array of 8 elems, 4 sets of 2d points flattened out
00116                 // (x1,y1,x2,y2,...) which reprsent angles and these points are the spline
00117                 // control points
00118                 bool set_elems_inside_spline (
00119                         queue<scripted_camera_data_t> &data,
00120                         bool abs_tstamp_beg,
00121                         double tstamp_beg,
00122                         bool abs_tstamp_end,
00123                         double tstamp_end,
00124                         double spline_pts[8]);
00125 
00126         private:
00128                 bool m_static_mode;
00130                 bool m_draw_free_splines;
00132                 float m_draw_free_splines_vec_length;
00134                 char const *m_camera_script_file;
00136                 ifstream fd;
00138                 queue<scripted_camera_data_t> *m_data;
00140                 event_watch_t m_event_watcher;
00142                 const event_t *m_event;
00144                 vector<event_t *> m_events;
00146                 double m_spline_detail;
00148                 cbmesg_data_t m_cbmesg_data;
00150                 bool m_cbmesg_ok;
00152                 bool m_events_take_priority;
00153 
00154                 bool skip_line (string read);
00155                 void clear_queue ();
00156                 bool add_elem (scripted_camera_data_t &data);
00157                 bool parse_and_add_style (string read, bool is_from_event);
00158                 bool time_ok (double timestamp); // test if adding data w/ ts is ok
00159                 double get_abs_tstamp (double rel_tstamp); // convert rel to abs
00160                 void print_elem (scripted_camera_data_t &data);
00161                 bool set_elem (scripted_camera_data_t &data, double tstamp,
00162                                camera_style_t style, double eye_x,
00163                                double eye_y, double eye_z,
00164                                double ctr_x, double ctr_y,
00165                                double ctr_z);
00166                 // spline_pts is an array of 12 elems, 4 sets of
00167                 // 3d points flattened out (x1,y1,z1,x2,...)
00168                 // and these points are the spline control points
00169                 bool set_spline (spline_curve_t &spline,
00170                                  bool abs_tstamp_beg,
00171                                  double &tstamp_beg,
00172                                  bool abs_tstamp_end,
00173                                  double &tstamp_end,
00174                                  double spline_pts_[12]);
00175         };
00176 };
00177 
00178 #endif