EigenWidgets.h

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#pragma once
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
// Warning: These includes are heavy. Therefore, these widgets are only available if you need them
#include <Eigen/Core>
 
namespace armarx::RemoteGui::Client
{
 
    struct Vector3Widget : HBoxLayout
    {
        FloatSpinBox x;
        FloatSpinBox y;
        FloatSpinBox z;
 
        Vector3Widget();
 
        Eigen::Vector3f getValue() const;
 
        void setValue(Eigen::Vector3f value);
 
        void setRange(float allMin, float allMax);
 
        void setSteps(int steps);
 
        void setDecimals(int decimals);
 
        bool hasValueChanged() const;
    };
 
    struct PoseWidget : HBoxLayout
    {
        FloatSpinBox x;
        FloatSpinBox y;
        FloatSpinBox z;
 
        FloatSpinBox roll;
        FloatSpinBox pitch;
        FloatSpinBox yaw;
 
        PoseWidget();
 
        Eigen::Matrix4f getPose() const;
 
        Eigen::Vector3f getPosition() const;
        void setPosition(Eigen::Vector3f value);
 
        Eigen::Matrix3f getOrientation() const;
        void setOrientation(Eigen::Matrix3f const& m);
 
        void setRangePosition(float allMin, float allMax);
        void setStepsPosition(int steps);
 
        void setRangeRPY(float allMin, float allMax);
 
        void setStepsRPY(int steps);
 
        void setDecimalsPosition(int decimals);
        void setDecimalsRPY(int decimals);
    };
 
} // namespace armarx::RemoteGui::Client