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
  Created on: 2013-03-20

  (C) Copyright 2013-2014 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/vctQtForwardDeclarations.h>
#include <cisstVector/vctTransformationTypes.h>

#include <QWidget>
#include <QtOpenGL>

class QWidget;
class QVBoxLayout;


// Always include last
#include <cisstVector/vctExportQt.h>


class CISST_EXPORT vctQtWidgetRotationOpenGL: public QGLWidget
{
    Q_OBJECT;

public:
    vctQtWidgetRotationOpenGL(void);
    inline ~vctQtWidgetRotationOpenGL(void) {};

    void SetValue(const vctMatRot3 & rotation);

protected:
   void initializeGL(void);
   void paintGL(void);
   void resizeGL(int width, int height);
   void draw3DAxis(const double scale);
   vct3 orientation; // should be replaced by rotation matrix using column-first storage order, isn't OpenGL Fortran like?
};


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);

 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;
};

#endif // _vctQtWidgetRotation_h