agni_tf_tools: rotation_property.h Source File

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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 #ifndef ROTATION_PROPERTY_H
00033 #define ROTATION_PROPERTY_H
00034 
00035 #include <Eigen/Geometry>
00036 #include <stdexcept>
00037 
00038 #include <rviz/properties/string_property.h>
00039 #include <rviz/properties/quaternion_property.h>
00040 #include "euler_property.h"
00041 
00042 namespace agni_tf_tools
00043 {
00044 
00045 class RotationProperty: public rviz::StringProperty
00046 {
00047 Q_OBJECT
00048 public:
00049   RotationProperty(Property* parent = 0,
00050                    const QString& name = QString(),
00051                    const Eigen::Quaterniond& value = Eigen::Quaterniond::Identity(),
00052                    const char *changed_slot = 0,
00053                    QObject* receiver = 0);
00054 
00055   Eigen::Quaterniond getQuaternion() const;
00056   virtual bool setValue(const QVariant& value);
00057 
00059   virtual void load(const rviz::Config& config);
00060   virtual void save(rviz::Config config) const;
00061 
00063   virtual void setReadOnly(bool read_only);
00064 
00065 public Q_SLOTS:
00066   void setQuaternion(const Eigen::Quaterniond &q);
00067   void setEulerAngles(double euler[3], bool normalize);
00068   void setEulerAngles(double e1, double e2, double e3, bool normalize);
00069   void setEulerAxes(const QString &axes);
00070 
00071 private Q_SLOTS:
00072   void updateFromEuler();
00073   void updateFromQuaternion();
00074 
00075 Q_SIGNALS:
00077   void quaternionChanged(Eigen::Quaterniond q);
00079   void statusUpdate(int, const QString&, const QString&);
00080 
00081 private:
00082   void updateString();
00083 
00084   rviz::EulerProperty *euler_property_;
00085   rviz::QuaternionProperty *quaternion_property_;
00086   bool ignore_quaternion_property_updates_;
00087   bool show_euler_string_;
00088 };
00089 
00090 } // end namespace agni_tf_tools
00091 
00092 #endif // ROTATION_PROPERTY_H