vctForceTorqueQtWidget.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s): Anton Deguet, Dorothy Hu
  Created on: 2017-01-20
 
  (C) Copyright 2017-2020 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
 
#ifndef _vctForceTorqueQtWidget_h
#define _vctForceTorqueQtWidget_h
 
// cisst include
#include <cisstVector/vctForwardDeclarations.h>
#include <cisstVector/vctForwardDeclarationsQt.h>
#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstVector/vctForceTorque2DQtWidget.h>
#include <cisstVector/vctForceTorque3DQtWidget.h>
 
#include <QWidget>
#include <QtOpenGL>
 
class QWidget;
class QVBoxLayout;
 
// Always include last
#include <cisstVector/vctExportQt.h>

class CISST_EXPORT vctForceTorqueQtWidget: public QWidget
{
    Q_OBJECT;
 
 public:
    typedef enum {UNDEFINED_WIDGET,
                  TEXT_WIDGET,  // text display
                  PLOT_2D_WIDGET, // 2D plot
                  PLOT_3D_WIDGET  // 3D display
    } DisplayModeType;

    vctForceTorqueQtWidget(const DisplayModeType displayMode = PLOT_3D_WIDGET);
 
    inline ~vctForceTorqueQtWidget(void) {};

    void SetValue(const vct3 & force,
                  const vct3 & torque,
                  const double & time = 0.0) {
        mForce.Assign(force);
        mTorque.Assign(torque);
        mTime = time;
        this->UpdateCurrentWidget();
    }

    void SetDisplayMode(const DisplayModeType displayMode);
 
 protected slots:
    void ShowContextMenu(const QPoint & position);
 
 protected:
    DisplayModeType DisplayMode;

    void UpdateCurrentWidget(void);

    vct3 mForce, mTorque;
    double mTime;
 
    // Text widgets
    vctQtWidgetDynamicVectorDoubleRead * ForceWidget;
    vctQtWidgetDynamicVectorDoubleRead * TorqueWidget;
    vctQtWidgetDynamicVectorDoubleRead * NormWidget;
    QWidget * ForceTorqueWidget;
 
    // 2D/3D widgets
    vctForceTorque2DQtWidget * Plot2DWidget;
    vctForceTorque3DQtWidget * Plot3DWidget;
 
    // current widget
    QWidget * CurrentWidget;
    QVBoxLayout * Layout;
};
 
#endif  // _vctForceTorqueQtWidget_h