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rickertmrickertm
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Add rotation conversion demo
1 parent 46cd9a4 commit be0fc9a

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lines changed

‎demos/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,7 @@ if(BUILD_RL_MATH)
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add_subdirectory(rlPcaDemo)
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add_subdirectory(rlQuaternionDemo)
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add_subdirectory(rlPolynomialRootsDemo)
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add_subdirectory(rlRotationConverterDemo)
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add_subdirectory(rlSpatialDemo)
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add_subdirectory(rlTrapezoidalVelocityDemo)
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endif()

‎demos/rlRotationConverterDemo/AngleAxisModel.cpp

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@@ -0,0 +1,177 @@
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#include <QTableView>
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#include <rl/math/Unit.h>
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#include "AngleAxisModel.h"
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#include "MainWindow.h"
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AngleAxisModel::AngleAxisModel(QObject* parent) :
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QAbstractTableModel(parent),
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angleAxis(nullptr),
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angleRadians(nullptr)
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{
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}
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AngleAxisModel::~AngleAxisModel()
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{
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}
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int
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AngleAxisModel::columnCount(const QModelIndex& parent) const
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{
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return 4;
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}
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QVariant
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AngleAxisModel::data(const QModelIndex& index, int role) const
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{
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if (nullptr == this->angleAxis || nullptr == this->angleRadians)
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{
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return QVariant();
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}
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if (!index.isValid())
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{
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return QVariant();
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}
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switch (role)
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{
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case Qt::DisplayRole:
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case Qt::EditRole:
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switch (index.column())
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{
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case 0:
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case 1:
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case 2:
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return this->angleAxis->axis()(index.column());
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break;
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case 3:
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return *this->angleRadians ? this->angleAxis->angle() : this->angleAxis->angle() * rl::math::RAD2DEG;
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break;
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default:
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break;
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}
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break;
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case Qt::TextAlignmentRole:
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return QVariant(Qt::AlignRight | Qt::AlignVCenter);
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break;
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default:
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break;
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}
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return QVariant();
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}
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Qt::ItemFlags
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AngleAxisModel::flags(const QModelIndex &index) const
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{
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if (!index.isValid())
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{
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return Qt::NoItemFlags;
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}
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return QAbstractItemModel::flags(index) | Qt::ItemIsEditable;
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}
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QVariant
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AngleAxisModel::headerData(int section, Qt::Orientation orientation, int role) const
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{
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if (nullptr == this->angleAxis || nullptr == this->angleRadians)
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{
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return QVariant();
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}
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if (Qt::DisplayRole == role && Qt::Horizontal == orientation)
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{
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switch (section)
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{
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case 0:
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return "X";
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break;
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case 1:
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return "Y";
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break;
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case 2:
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return "Z";
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break;
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case 3:
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return "Angle";
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break;
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default:
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break;
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}
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}
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return QVariant();
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}
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void
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AngleAxisModel::invalidate()
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{
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this->beginResetModel();
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this->endResetModel();
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}
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int
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AngleAxisModel::rowCount(const QModelIndex& parent) const
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{
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return 1;
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}
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bool
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AngleAxisModel::setData(const QModelIndex& index, const QVariant& value, int role)
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{
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if (nullptr == this->angleAxis || nullptr == this->angleRadians)
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{
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return false;
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}
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if (index.isValid() && Qt::EditRole == role)
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{
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switch (index.column())
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{
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case 0:
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case 1:
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case 2:
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this->angleAxis->axis()(index.column()) = value.value<rl::math::Real>();
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break;
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case 3:
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this->angleAxis->angle() = *this->angleRadians ? value.value<rl::math::Real>() : value.value<rl::math::Real>() * rl::math::DEG2RAD;
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break;
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default:
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break;
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}
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emit dataChanged(this->createIndex(index.row(), index.column()), this->createIndex(index.row(), index.column()));
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return true;
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}
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return false;
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}

‎demos/rlRotationConverterDemo/AngleAxisModel.h

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,66 @@
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
6+
// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
10+
// * Redistributions in binary form must reproduce the above copyright notice,
11+
// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16+
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
17+
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
18+
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
19+
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
20+
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
21+
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
22+
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
23+
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
24+
// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef ANGLEAXISMODEL_H
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#define ANGLEAXISMODEL_H
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#include <QAbstractTableModel>
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#include <rl/math/Rotation.h>
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class AngleAxisModel : public QAbstractTableModel
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{
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Q_OBJECT
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public:
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AngleAxisModel(QObject* parent = nullptr);
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virtual ~AngleAxisModel();
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int columnCount(const QModelIndex& parent = QModelIndex()) const;
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QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const;
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Qt::ItemFlags flags(const QModelIndex &index) const;
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QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const;
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void invalidate();
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int rowCount(const QModelIndex& parent = QModelIndex()) const;
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bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole);
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rl::math::AngleAxis* angleAxis;
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bool* angleRadians;
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protected:
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private:
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};
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#endif // ANGLEAXISMODEL_H

‎demos/rlRotationConverterDemo/CMakeLists.txt

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@@ -0,0 +1,109 @@
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if(USE_QT5)
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find_package(Qt5 COMPONENTS Core Gui Widgets QUIET)
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endif()
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if(Qt5_FOUND)
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set(QT_LIBRARIES ${Qt5Core_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5Widgets_LIBRARIES})
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set(QT_FOUND Qt5_FOUND)
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else()
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set(QT_USE_IMPORTED_TARGETS ON)
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find_package(Qt4 COMPONENTS QtCore QtGui)
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set(QT_USE_QTMAIN ON)
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include(${QT_USE_FILE})
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endif()
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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if(QT_FOUND)
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set(
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HDRS
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AngleAxisModel.h
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EulerAnglesModel.h
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MainWindow.h
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QuaternionModel.h
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RotationMatrixModel.h
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TableView.h
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)
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set(
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SRCS
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AngleAxisModel.cpp
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EulerAnglesModel.cpp
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MainWindow.cpp
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QuaternionModel.cpp
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rlRotationConverterDemo.cpp
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RotationMatrixModel.cpp
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TableView.cpp
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${rl_SOURCE_DIR}/robotics-library.rc
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)
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add_executable(
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rlRotationConverterDemo
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WIN32
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${HDRS}
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${SRCS}
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)
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target_link_libraries(
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rlRotationConverterDemo
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math
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${QT_LIBRARIES}
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)
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set_target_properties(
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rlRotationConverterDemo
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PROPERTIES
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VERSION ${VERSION}
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)
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if(WIN32)
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set_target_properties(
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rlRotationConverterDemo
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PROPERTIES
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DEBUG_POSTFIX d
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)
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endif()
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install(
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TARGETS rlRotationConverterDemo
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COMPONENT demos
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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)
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if(MSVC AND BUILD_SHARED_LIBS AND NOT CMAKE_VERSION VERSION_LESS 3.1)
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install(FILES $<TARGET_PDB_FILE:rlRotationConverterDemo> DESTINATION ${CMAKE_INSTALL_BINDIR} CONFIGURATIONS Debug RelWithDebInfo COMPONENT demos)
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endif()
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if(UNIX)
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configure_file(rlRotationConverterDemo.desktop.in rlRotationConverterDemo.desktop @ONLY)
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install(FILES ${CMAKE_CURRENT_BINARY_DIR}/rlRotationConverterDemo.desktop DESTINATION ${CMAKE_INSTALL_DATADIR}/applications COMPONENT demos)
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endif()
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set(
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CPACK_NSIS_CREATE_ICONS_EXTRA
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${CPACK_NSIS_CREATE_ICONS_EXTRA}
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"CreateShortCut \\\\
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\\\"$SMPROGRAMS\\\\$STARTMENU_FOLDER\\\\rlRotationConverterDemo.lnk\\\" \\\\
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\\\"$INSTDIR\\\\${CMAKE_INSTALL_BINDIR}\\\\rlRotationConverterDemo.exe\\\" \\\\
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\\\"\\\" \\\\
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\\\"\\\" \\\"\\\" \\\"\\\" \\\"\\\" \\\\
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\\\"Rotation conversion demo\\\""
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PARENT_SCOPE
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)
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set(CPACK_NSIS_DELETE_ICONS_EXTRA ${CPACK_NSIS_DELETE_ICONS_EXTRA} "Delete \\\"$SMPROGRAMS\\\\$START_MENU\\\\rlRotationConverterDemo.lnk\\\"" PARENT_SCOPE)
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set(
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WIX_SHORTCUTS
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${WIX_SHORTCUTS}
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"<Shortcut
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Description=\"Rotation conversion demo\"
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Id=\"CM_SP_bin.rlRotationConverterDemo.exe\"
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Name=\"rlRotationConverterDemo\"
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Target=\"[#CM_FP_bin.rlRotationConverterDemo.exe]\"
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WorkingDirectory=\"CM_DP_bin\"
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/>"
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PARENT_SCOPE
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)
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endif()

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