euler_property.h

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/*
 * Copyright (C) 2016, Bielefeld University, CITEC
 * All rights reserved.
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 * Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
 */

#ifndef EULER_PROPERTY_H
#define EULER_PROPERTY_H

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

#include "rviz/properties/property.h"

namespace rviz
{

class FloatProperty;

class EulerProperty: public Property
{
  Q_OBJECT
public:
  class invalid_axes : public std::invalid_argument {
  public:
    invalid_axes(const std::string &msg);
  };

  EulerProperty(Property* parent = 0,
                const QString& name = QString(),
                const Eigen::Quaterniond& value = Eigen::Quaterniond::Identity(),
                const char *changed_slot = 0,
                QObject* receiver = 0);

  Eigen::Quaterniond getQuaternion() const {return quaternion_;}
  virtual bool setValue(const QVariant& value);

  virtual void load(const Config& config);
  virtual void save(Config config) const;

  virtual void setReadOnly(bool read_only);
  bool getAnglesReadOnly() {return angles_read_only_;}

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_spec);

private Q_SLOTS:
  void updateFromChildren();
  void emitAboutToChange();

Q_SIGNALS:
  void quaternionChanged(Eigen::Quaterniond q);
  void statusUpdate(int, const QString&, const QString&);

private:
  void updateAngles(const Eigen::Quaterniond &q);
  void updateString();

  Eigen::Quaterniond quaternion_;
  QString   axes_string_;
  uint      axes_[3]; // unit axis index for i-th rotation
  bool      fixed_;
  FloatProperty* euler_[3];
  bool ignore_child_updates_;
  bool angles_read_only_;
  bool update_string_; // do we have any changes triggering an updateString()?
};

} // end namespace rviz

#endif // EULER_PROPERTY_H