class TransformEditor

Edition class for the transformer. We aren't using Rock's default RigidBodyStateEditor because it is really way too bloated

Attributes

producer[R]

rotation[R]

rotation_editors[R]

source_frame[R]

target_frame[R]

translation[R]

translation_editors[R]

Public Class Methods

new(producer, source_frame, target_frame, parent = nil) click to toggle source

Calls superclass method

# File bin/rock-transformer, line 15
def initialize(producer, source_frame, target_frame, parent = nil)
    super(parent)
    @producer = producer
    @source_frame = source_frame
    @target_frame = target_frame
    @translation = [0, 0, 0]
    @rotation    = [0, 0, 0]
    create_ui
    update(translation_vector, rotation_quat)
end

Public Instance Methods

create_ui() click to toggle source

# File bin/rock-transformer, line 34
def create_ui
    header = Qt::VBoxLayout.new(self)
    layout.add_widget Qt::Label.new("<b>Producer</b>: #{producer}")
    layout.add_widget Qt::Label.new("<b>Source</b>: #{source_frame}")
    layout.add_widget Qt::Label.new("<b>Target</b>: #{target_frame}")

    layout = Qt::GridLayout.new
    layout.add_widget Qt::Label.new("<b>Translation</b>"), 0, 0, 1, 2
    layout.add_widget(Qt::Label.new("X"), 1, 0)
    layout.add_widget(Qt::Label.new("Y"), 2, 0)
    layout.add_widget(Qt::Label.new("Z"), 3, 0)

    @translation_editors = Array.new
    layout.add_widget(translation_editors[0] = Qt::DoubleSpinBox.new, 1, 1)
    layout.add_widget(translation_editors[1] = Qt::DoubleSpinBox.new, 2, 1)
    layout.add_widget(translation_editors[2] = Qt::DoubleSpinBox.new, 3, 1)

    layout.add_widget Qt::Label.new("<b>Rotation</b>"), 0, 2, 1, 2
    layout.add_widget(Qt::Label.new("X"), 1, 2)
    layout.add_widget(Qt::Label.new("Y"), 2, 2)
    layout.add_widget(Qt::Label.new("Z"), 3, 2)

    @rotation_editors = Array.new
    layout.add_widget(rotation_editors[0] = Qt::SpinBox.new, 1, 3)
    layout.add_widget(rotation_editors[1] = Qt::SpinBox.new, 2, 3)
    layout.add_widget(rotation_editors[2] = Qt::SpinBox.new, 3, 3)

    header.add_layout(layout)

    translation_editors.each_with_index do |editor, editor_idx|
        editor.minimum = -10_000
        editor.maximum = 10_000
        editor.single_step = 0.1
        editor.connect(SIGNAL('valueChanged(double)')) do |value|
            translation[editor_idx] = value
            emit valueChanged(translation_vector, rotation_quat)
        end
    end

    rotation_editors.each_with_index do |editor, editor_idx|
        editor.minimum = -180
        editor.maximum = 180
        editor.single_step = 1
        editor.connect(SIGNAL('valueChanged(int)')) do |value|
            rotation[editor_idx] = value * Math::PI / 180
            emit valueChanged(translation_vector, rotation_quat)
        end
    end
end

rotation_quat() click to toggle source

# File bin/rock-transformer, line 30
def rotation_quat
    Eigen::Quaternion.from_euler(Eigen::Vector3.new(*rotation.reverse), 2, 1, 0).to_qt
end

translation_vector() click to toggle source

# File bin/rock-transformer, line 26
def translation_vector
    Qt::Vector3D.new(*translation)
end

update(translation, rotation) click to toggle source

# File bin/rock-transformer, line 84
def update(translation, rotation)
    self.translation_editors[0].setValue(translation.x)
    self.translation_editors[1].setValue(translation.y)
    self.translation_editors[2].setValue(translation.z)

    yaw, pitch, roll = *Eigen::Quaternion.new(rotation.scalar, rotation.x, rotation.y, rotation.z).to_euler.to_a
    self.rotation_editors[0].setValue(yaw * 180 / Math::PI)
    self.rotation_editors[1].setValue(pitch * 180 / Math::PI)
    self.rotation_editors[2].setValue(roll * 180 / Math::PI)
end