HomogeneousMatrixCalculatorWidgetController.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::gui-plugins::HomogeneousMatrixCalculatorWidgetController
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/MathTools.h>
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
 
// C++ includes
#include <memory>
 
// ui_HomogeneousMatrixCalculatorWidget.h is included by the .cpp, not here: moc textually inlines every
// #include it can resolve, and parsing the uic-generated header alongside this one
// makes moc mis-qualify this class as Ui::armarx::*.
namespace Ui
{
    class HomogeneousMatrixCalculatorWidget;
}
 
namespace armarx
{
    /**
    \page RobotAPI-GuiPlugins-HomogeneousMatrixCalculator HomogeneousMatrixCalculator
    \brief The HomogeneousMatrixCalculator allows visualizing ...
 
    \image html HomogeneousMatrixCalculator.png
    The user can
 
    API Documentation \ref HomogeneousMatrixCalculatorWidgetController
 
    \see HomogeneousMatrixCalculatorGuiPlugin
    */
 
    /**
     * \class HomogeneousMatrixCalculatorWidgetController
     * \brief HomogeneousMatrixCalculatorWidgetController brief one line description
     *
     * Detailed description
     */
    class ARMARXCOMPONENT_IMPORT_EXPORT HomogeneousMatrixCalculatorWidgetController :
        public ArmarXComponentWidgetControllerTemplate<HomogeneousMatrixCalculatorWidgetController>
    {
        Q_OBJECT
 
    public:
        /**
         * Controller Constructor
         */
        explicit HomogeneousMatrixCalculatorWidgetController();
 
        /**
         * Controller destructor
         */
        ~HomogeneousMatrixCalculatorWidgetController() override;
 
        /**
         * @see ArmarXWidgetController::loadSettings()
         */
        void loadSettings(QSettings* settings) override;
 
        /**
         * @see ArmarXWidgetController::saveSettings()
         */
        void saveSettings(QSettings* settings) override;
 
        /**
         * Returns the Widget name displayed in the ArmarXGui to create an
         * instance of this class.
         */
        static QString
        GetWidgetName()
        {
            return "Util.HomogeneousMatrixCalculator";
        }
 
        /**
         * \see armarx::Component::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * \see armarx::Component::onConnectComponent()
         */
        void onConnectComponent() override;
 
        Eigen::Matrix4d getMatrix();
 
        static QIcon
        GetWidgetIcon()
        {
            return QIcon("://icons/htmx_calc_icon.svg");
        }
 
        static QIcon
        GetWidgetCategoryIcon()
        {
            return QIcon("://icons/tools.svg");
        }
 
    public slots:
        /* QT slot declarations */
 
    signals:
        /* QT signal declarations */
 
    private slots:
        void changed4f();
 
        void changedrpy();
 
        void recalcInv();
        void recalcProd();
        void recalcInvAndProd();
 
 
    private:
        /**
         * Widget Form
         */
        std::unique_ptr<Ui::HomogeneousMatrixCalculatorWidget> widget;
    };
} // namespace armarx