quaternion_property.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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#ifndef QUATERNION_PROPERTY_H
#define QUATERNION_PROPERTY_H
 
#include <OgreQuaternion.h>
 
#include <rviz/properties/property.h>
 
namespace rviz
{
class QuaternionProperty : public Property
{
  Q_OBJECT
public:
  QuaternionProperty(const QString& name = QString(),
                     const Ogre::Quaternion& default_value = Ogre::Quaternion::IDENTITY,
                     const QString& description = QString(),
                     Property* parent = nullptr);
 
  template <typename Func, typename R>
  QuaternionProperty(const QString& name,
                     const Ogre::Quaternion& default_value,
                     const QString& description,
                     Property* parent,
                     Func&& changed_slot,
                     const R* receiver)
    : QuaternionProperty(name, default_value, description, parent)
  {
    connect(receiver, std::forward<Func>(changed_slot));
  }
 
  // this variant is required to allow omitting the receiver argument
  template <typename Func, typename P>
  QuaternionProperty(const QString& name,
                     const Ogre::Quaternion& default_value,
                     const QString& description,
                     P* parent,
                     Func&& changed_slot)
    : QuaternionProperty(name, default_value, description, parent)
  {
    connect(parent, std::forward<Func>(changed_slot));
  }
 
  virtual bool setQuaternion(const Ogre::Quaternion& quaternion);
  virtual Ogre::Quaternion getQuaternion() const
  {
    return quaternion_;
  }
 
  bool setValue(const QVariant& new_value) override;
 
  void load(const Config& config) override;
 
  void save(Config config) const override;
 
  void setReadOnly(bool read_only) override;
 
private Q_SLOTS:
  void updateFromChildren();
  void emitAboutToChange();
 
private:
  void updateString();
 
  Ogre::Quaternion quaternion_;
  Property* x_;
  Property* y_;
  Property* z_;
  Property* w_;
  bool ignore_child_updates_;
};
 
} // end namespace rviz
 
#endif // QUATERNION_PROPERTY_H