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Added motion duration to the 'move to pose' service of the camera tracking plugin. #594

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merged 3 commits into from
Dec 1, 2023
Merged

Added motion duration to the 'move to pose' service of the camera tracking plugin. #594

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309b078
Added motion duration to the 'move to pose' service of the camera tra…
jrutgeer Nov 9, 2023
1c635ee
Merge branch 'main' into gz-gui8
jrutgeer Nov 22, 2023
b26b1e5
Change according to gazebosim/gz-gui#583
jrutgeer Nov 29, 2023
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16 changes: 15 additions & 1 deletion src/plugins/camera_tracking/CameraTracking.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,9 @@ class CameraTracking::Implementation
/// \brief The pose set from the move to pose service.
public: std::optional<math::Pose3d> moveToPoseValue;

/// \brief The motion duration set from the move to pose service.
public: std::optional<double> moveToPoseDuration;

/// \brief Follow service
public: std::string followService;

Expand Down Expand Up @@ -250,6 +253,7 @@ void CameraTracking::Implementation::OnMoveToComplete()
void CameraTracking::Implementation::OnMoveToPoseComplete()
{
this->moveToPoseValue.reset();
this->moveToPoseDuration.reset();
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -290,6 +294,15 @@ bool CameraTracking::Implementation::OnMoveToPose(const msgs::GUICamera &_msg,

this->moveToPoseValue = pose;

if (_msg.duration() > 0)
{
this->moveToPoseDuration = _msg.duration();
}
else
{
this->moveToPoseDuration = 0.5;
}

_res.set_data(true);
return true;
}
Expand Down Expand Up @@ -352,7 +365,8 @@ void CameraTracking::Implementation::OnRender()
{
this->moveToHelper.MoveTo(this->camera,
*(this->moveToPoseValue),
0.5, std::bind(&Implementation::OnMoveToPoseComplete, this));
*(this->moveToPoseDuration),
std::bind(&Implementation::OnMoveToPoseComplete, this));
this->prevMoveToTime = std::chrono::system_clock::now();
}
else
Expand Down