vctQtWidgetRotation.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):  Zihan Chen, Anton Deguet
  Created on: 2013-03-20
 
  (C) Copyright 2013-2020 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 _vctQtWidgetRotation_h
#define _vctQtWidgetRotation_h
 
// cisst include
#include <cisstVector/vctForwardDeclarations.h>
#include <cisstVector/vctForwardDeclarationsQt.h>
#include <cisstVector/vctTransformationTypes.h>
 
class QVBoxLayout;
 
// Always include last
#include <cisstVector/vctExportQt.h>
 

class CISST_EXPORT vctQtWidgetRotationOpenGL: public vctQtOpenGLBaseWidget
{
    Q_OBJECT;
 
public:
    vctQtWidgetRotationOpenGL(void);
    inline ~vctQtWidgetRotationOpenGL(void) {};
 
    void SetValue(const vctMatRot3 & rotation);
 
protected:
    void ResetOrientation(void);
    void mouseMoveEvent(QMouseEvent * event);
    void mouseReleaseEvent(QMouseEvent * event);
    void keyPressEvent(QKeyEvent * event);
 
    void initializeGL(void);
    void paintGL(void);
    void resizeGL(int width, int height);
 
    vct3 mRotation;
    vctQuatRot3 mCurrentOrientation, mDeltaOrientation;
    vctInt2 mStartMousePosition;
};
 

class CISST_EXPORT vctQtWidgetRotationDoubleRead: public QWidget
{
    Q_OBJECT;
 
 public:
    typedef enum {UNDEFINED_WIDGET, MATRIX_WIDGET, AXIS_ANGLE_WIDGET, QUATERNION_WIDGET,
                  EULERZYZ_WIDGET, EULERZYX_WIDGET, OPENGL_WIDGET} DisplayModeType;

    vctQtWidgetRotationDoubleRead(const DisplayModeType displayMode = MATRIX_WIDGET);
 
    inline ~vctQtWidgetRotationDoubleRead(void) {};

    template <class _containerType>
    void SetValue(const vctMatrixRotation3ConstBase<_containerType> & rotation) {
        this->Rotation.FromRaw(rotation);
        this->UpdateCurrentWidget();
    }

    void SetDisplayMode(const DisplayModeType displayMode);
 
    inline void SetPrismaticRevoluteFactors(const double & CMN_UNUSED(prismatic), const double & revolute) {
        mRevoluteFactor = revolute;
        this->UpdateCurrentWidget();
    }
 
 protected slots:
    void ShowContextMenu(const QPoint & position);
 
 protected:
    DisplayModeType DisplayMode;

    void UpdateCurrentWidget(void);

    vctMatRot3 Rotation;
 
    // Matrix
    vctQtWidgetDynamicMatrixDoubleRead * MatrixWidget;
 
    // Axis Angle
    vctQtWidgetDynamicVectorDoubleRead * AxisWidget;
    vctQtWidgetDynamicVectorDoubleRead * AngleWidget;
    QWidget * AxisAngleWidget;
 
    // Quaternion
    vctQtWidgetDynamicVectorDoubleRead * QuaternionWidget;
 
    // Euler Angles (in degrees)
    vctQtWidgetDynamicVectorDoubleRead * EulerZYZWidget;
    vctQtWidgetDynamicVectorDoubleRead * EulerZYXWidget;
 
    // Visualization
    vctQtWidgetRotationOpenGL * OpenGLWidget;
 
    // current widget
    QWidget * CurrentWidget;
    QVBoxLayout * Layout;
 
    // conversion factor
    double mRevoluteFactor;
};
 
#endif // _vctQtWidgetRotation_h