vctQtWidgetFrame.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
  Created on: 2013-04-20
 
  (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 _vctQtWidgetFrame_h
#define _vctQtWidgetFrame_h
 
// cisst include
#include <cisstVector/vctForwardDeclarations.h>
#include <cisstVector/vctForwardDeclarationsQt.h>
#include <cisstVector/vctTransformationTypes.h>
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstVector/vctQtWidgetRotation.h>
#include <cisstVector/vctQtWidgetDynamicVector.h>
 
#include <QWidget>
 
class QVBoxLayout;
 
 
// Always include last
#include <cisstVector/vctExportQt.h>

class CISST_EXPORT vctQtWidgetFrameDoubleRead: public QWidget
{
    Q_OBJECT;
 
 public:

    typedef vctQtWidgetRotationDoubleRead RotationWidgetType;
    typedef RotationWidgetType::DisplayModeType DisplayModeType;

    vctQtWidgetFrameDoubleRead(const DisplayModeType displayMode = RotationWidgetType::MATRIX_WIDGET);
 
    inline ~vctQtWidgetFrameDoubleRead(void) {};

    template <class _rotationType>
    void SetValue(const vctFrameBase<_rotationType> & frame) {
        vctMatRot3 rotationMatrix;
        rotationMatrix.FromNormalized(frame.Rotation());
        this->RotationWidget->SetValue(rotationMatrix);
        vctDoubleVec translation(frame.Translation());
        translation.Multiply(mPrismaticFactor);
        this->TranslationWidget->SetValue(translation);
    }

    inline void SetDisplayMode(const DisplayModeType displayMode) {
        this->RotationWidget->SetDisplayMode(displayMode);
    }
 
    inline void SetPrismaticRevoluteFactors(const double & prismatic, const double & revolute) {
        mPrismaticFactor = prismatic;
        RotationWidget->SetPrismaticRevoluteFactors(prismatic, revolute);
    }
 
 protected:
    // widgets
    vctQtWidgetRotationDoubleRead * RotationWidget;
    vctQtWidgetDynamicVectorDoubleRead * TranslationWidget;
    // layout
    QVBoxLayout * Layout;
    // conversion factors
    double mPrismaticFactor;
};
 
#endif // _vctQtWidgetFrame_h