/**
* Zooms the camera around the specified focus coordinates.
*
* @param focusX the x coordinate to focus on
* @param focusY the y coordinate to focus on
* @param factor the zoom will be scaled by this factor
*/
public void zoom(double focusX, double focusY, double factor) {
synchronized (mutex) {
Transform focus = Transform.translation(toMetricCoordinates((int) focusX, (int) focusY));
double zoom = RosMath.clamp(getZoom() * factor, MINIMUM_ZOOM, MAXIMUM_ZOOM) / getZoom();
transform = transform.multiply(focus).scale(zoom).multiply(focus.invert());
}
}
/**
* Rotates the camera round the specified coordinates.
*
* @param focusX the x coordinate to focus on
* @param focusY the y coordinate to focus on
* @param deltaAngle the camera will be rotated by {@code deltaAngle} radians
*/
public void rotate(double focusX, double focusY, double deltaAngle) {
synchronized (mutex) {
Transform focus = Transform.translation(toMetricCoordinates((int) focusX, (int) focusY));
transform =
transform
.multiply(focus)
.multiply(Transform.zRotation(deltaAngle))
.multiply(focus.invert());
}
}
/**
* Changes the camera frame to the specified frame.
*
* <p>If possible, the camera will avoid jumping on the next frame.
*
* @param frame the new camera frame
*/
public void setFrame(GraphName frame) {
Preconditions.checkNotNull(frame);
synchronized (mutex) {
if (this.frame != null && this.frame != frame) {
FrameTransform frameTransform = frameTransformTree.transform(frame, this.frame);
if (frameTransform != null) {
// Best effort to prevent the camera from jumping. If we don't have
// the transform yet, we can't help matters.
transform = transform.multiply(frameTransform.getTransform());
}
}
this.frame = frame;
}
}