EditConstraintDialog.cpp

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/*
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
 
#include "rtabmap/gui/EditConstraintDialog.h"
#include "ui_editConstraintDialog.h"
 
#ifndef M_PI
#define M_PI       3.14159265358979323846
#endif
 
namespace rtabmap {
 
EditConstraintDialog::EditConstraintDialog(const Transform & constraint, double linearSigma, double angularSigma, QWidget * parent) :
        QDialog(parent)
{
        _ui = new Ui_EditConstraintDialog();
        _ui->setupUi(this);
 
        float x,y,z,roll,pitch,yaw;
        constraint.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
        _ui->x->setValue(x);
        _ui->y->setValue(y);
        _ui->z->setValue(z);
        _ui->roll->setValue(roll);
        _ui->pitch->setValue(pitch);
        _ui->yaw->setValue(yaw);
 
        _ui->checkBox_radians->setChecked(true);
        _ui->linear_sigma->setValue(linearSigma);
        _ui->angular_sigma->setValue(angularSigma);
 
        connect(_ui->checkBox_radians, SIGNAL(stateChanged(int)), this, SLOT(switchUnits()));
}
 
EditConstraintDialog::~EditConstraintDialog()
{
        delete _ui;
}
 
void EditConstraintDialog::switchUnits()
{
        double conversion = 180.0/M_PI;
        if(_ui->checkBox_radians->isChecked())
        {
                conversion = M_PI/180.0;
        }
        QVector<QDoubleSpinBox*> boxes;
        boxes.push_back(_ui->roll);
        boxes.push_back(_ui->pitch);
        boxes.push_back(_ui->yaw);
        boxes.push_back(_ui->angular_sigma);
        for(int i=0; i<boxes.size(); ++i)
        {
                double value = boxes[i]->value()*conversion;
                if(_ui->checkBox_radians->isChecked())
                {
                        if(boxes[i]!=_ui->angular_sigma)
                        {
                                boxes[i]->setMinimum(-M_PI);
                        }
                        boxes[i]->setMaximum(M_PI);
                        boxes[i]->setSuffix(" rad");
                        boxes[i]->setSingleStep(0.01);
                }
                else
                {
                        if(boxes[i]!=_ui->angular_sigma)
                        {
                                boxes[i]->setMinimum(-180);
                        }
                        boxes[i]->setMaximum(180);
                        boxes[i]->setSuffix(" deg");
                        boxes[i]->setSingleStep(1);
                }
                boxes[i]->setValue(value);
        }
}
 
Transform EditConstraintDialog::getTransform() const
{
        double conversion = 1.0f;
        if(!_ui->checkBox_radians->isChecked())
        {
                conversion = M_PI/180.0;
        }
        return Transform(_ui->x->value(), _ui->y->value(), _ui->z->value(), _ui->roll->value()*conversion, _ui->pitch->value()*conversion, _ui->yaw->value()*conversion);
}
 
double EditConstraintDialog::getLinearVariance() const
{
        return _ui->linear_sigma->value()*_ui->linear_sigma->value();
}
double EditConstraintDialog::getAngularVariance() const
{
        double conversion = 1.0f;
        if(!_ui->checkBox_radians->isChecked())
        {
                conversion = M_PI/180.0;
        }
        double value = _ui->angular_sigma->value()*conversion;
        return value*value;
}
 
}