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.
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      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;
}

}