TransformWidget.h
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00001 /*
00002  * Copyright (C) 2016, Bielefeld University, CITEC
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  * Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
00030  */
00031 
00032 #pragma once
00033 
00034 #include <Eigen/Geometry>
00035 #include <QWidget>
00036 
00037 namespace Ui {
00038 class TransformWidget;
00039 }
00040 
00042 class TransformWidget : public QWidget
00043 {
00044   Q_OBJECT
00045 public:
00046   explicit TransformWidget(QWidget *parent = 0);
00047 
00048   const Eigen::Vector3d& position() const;
00049   const Eigen::Quaterniond& quaternion() const;
00050 
00051 signals:
00052   void positionChanged(const Eigen::Vector3d &p);
00053   void quaternionChanged(const Eigen::Quaterniond &q);
00054 
00055 public slots:
00056   void setPosition(const Eigen::Vector3d &p);
00057   void setQuaternion(const Eigen::Quaterniond &q);
00058 
00059 private:
00060   // update position vector component i
00061   void changePos(unsigned int i, double value);
00062 
00063 private slots:
00064   // update position vector component from sender()
00065   void changePos(double);
00066 
00067 private:
00068   Eigen::Vector3d pos_;
00069   Ui::TransformWidget *ui_;
00070 };


agni_tf_tools
Author(s): Robert Haschke
autogenerated on Sat Jun 8 2019 21:01:20