rotation_property.h

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/*
 * Copyright (C) 2016, Bielefeld University, CITEC
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
 */

#ifndef ROTATION_PROPERTY_H
#define ROTATION_PROPERTY_H

#include <Eigen/Geometry>
#include <stdexcept>

#include <rviz/properties/string_property.h>
#include <rviz/properties/quaternion_property.h>
#include <rviz/properties/status_property.h>
#include "euler_property.h"

namespace agni_tf_tools {

class RotationProperty : public rviz::StringProperty
{
  Q_OBJECT
public:
  RotationProperty(Property* parent = nullptr,
                   const QString& name = QString(),
                   const Eigen::Quaterniond& value = Eigen::Quaterniond::Identity(),
                   const char* changed_slot = nullptr,
                   QObject* receiver = nullptr);

  Eigen::Quaterniond getQuaternion() const;
  bool setValue(const QVariant& value) override;

  void load(const rviz::Config& config) override;
  void save(rviz::Config config) const override;

  void setReadOnly(bool read_only) override;

public Q_SLOTS:
  void setQuaternion(const Eigen::Quaterniond& q);
  void setEulerAngles(double euler[3], bool normalize);
  void setEulerAngles(double e1, double e2, double e3, bool normalize);
  void setEulerAxes(const QString& axes);

private Q_SLOTS:
  void updateFromEuler();
  void updateFromQuaternion();

Q_SIGNALS:
  void quaternionChanged(Eigen::Quaterniond q);
  void statusUpdate(rviz::StatusProperty::Level, const QString&, const QString&);

private:
  void updateString();

  rviz::EulerProperty* euler_property_;
  rviz::QuaternionProperty* quaternion_property_;
  bool ignore_quaternion_property_updates_;
  bool show_euler_string_;
};

} // end namespace agni_tf_tools

#endif // ROTATION_PROPERTY_H