TransformSliderWidget Class Reference

Widget for a setting a 6D pose. More...

#include <SliderTab.hpp>

Inherits QWidget, and QWidget.

Public Types
enum	AngleType { RPYtype = 0 , EAAtype = 1 , QUAtype = 2 }
	The type of angle to use. More...
typedef enum TransformSliderWidget::AngleType	AngleType
	The type of angle to use.

Public Slots
void	angleTypeChanged (int index)
	updates the sliders to represent the new angle type
void	paste ()
	Opens up dialog for easy pasting of a new pose.
void	copy ()
	Copys the pose into the clipboard.
void	paste ()

Signals
void	valueChanged (const rw::math::Transform3D<> &transform)
	Emitted when the transform is changed. More...
void	valueChanged (const rw::math::Transform3D<> &transform)

Public Member Functions
	TransformSliderWidget (const std::pair< rw::math::Q, rw::math::Q > &bounds, const rw::math::Transform3D<> &transform, AngleType angleType=RPYtype, bool enablers=false)
	Construct new widget. More...
void	setNoneDeviceType (bool isNotADevice=true)
	the widget is not moving a device, but a movable frame More...
void	setUnits (const std::vector< double > &converters, const std::vector< std::string > &descriptions)
	Set the units. More...
void	updateValues (const rw::math::Transform3D<> &transform)
	Change the transform. More...
void	updateInactiveValues (const rw::math::Transform3D<> &transform)
	Change the transform where the enablers have been unchecked. More...
rw::math::Transform3D	getTransform ()
	Get the currently chosen transform. More...
rw::math::VectorND< 6, bool >	enabledState () const
	Get the enabled state for the x,y,z,R,P and Y state respectively. More...
	TransformSliderWidget (const std::pair< rw::math::Q, rw::math::Q > &bounds, const rw::math::Transform3D<> &transform)
void	setUnits (const std::vector< double > &converters, const std::vector< std::string > &descriptions)
void	updateValues (const rw::math::Transform3D<> &transform)
rw::math::Transform3D	getTransform ()

Static Public Member Functions
static AngleType	toAngleType (int i)
	Convert an integer to correct AngleType. More...

Detailed Description

Widget for a setting a 6D pose.

Member Enumeration Documentation

AngleType

enum AngleType

The type of angle to use.

Enumerator
RPYtype	Roll-Pitch-Yaw (RPY) angles.
EAAtype	Equivalent Angle Axis (EAA) angles.
QUAtype	Quaternions.

Constructor & Destructor Documentation

TransformSliderWidget()

TransformSliderWidget	(	const std::pair< rw::math::Q, rw::math::Q > &	bounds,
		const rw::math::Transform3D<> &	transform,
		AngleType	angleType = RPYtype,
		bool	enablers = false
	)

Construct new widget.

Parameters

bounds	[in] the lower and upper bounds - 6 elements of each corresponding to x,y,z,R,P and Y.
transform	[in] the initial transform.
angleType	[in] (optional) set the type of angle to use (default is RPY).
enablers	[in] (optional) set to true to show a checkbox for each slider. It is only possible to check/uncheck checkboxes for EAA values (not RPY).

Member Function Documentation

enabledState()

rw::math::VectorND<6, bool> enabledState

(

)

const

Get the enabled state for the x,y,z,R,P and Y state respectively.

Returns

the enabled state.

getTransform()

rw::math::Transform3D getTransform

(

)

Get the currently chosen transform.

Returns

the current transform.

setNoneDeviceType()

void setNoneDeviceType ( bool  isNotADevice = true )

inline

the widget is not moving a device, but a movable frame

Parameters

isNotADevice

true if the widget is not manipulating a device

setUnits()

void setUnits	(	const std::vector< double > &	converters,
		const std::vector< std::string > &	descriptions
	)

Set the units.

Parameters

converters	[in] the factor used to convert to units.
descriptions	[in] a description of the chosen units.

toAngleType()

static AngleType toAngleType ( int  i )

static

Convert an integer to correct AngleType.

Parameters

i	[in] the integer.

Returns

the corresponding AngleType.

Exceptions

Exception

if there is no AngleType with this integer value.

updateInactiveValues()

void updateInactiveValues

(

const rw::math::Transform3D<> &

transform

)

Change the transform where the enablers have been unchecked.

Parameters

transform

[in] new transform.

updateValues()

void updateValues

(

const rw::math::Transform3D<> &

transform

)

Change the transform.

Parameters

transform

[in] new transform.

valueChanged

void valueChanged ( const rw::math::Transform3D<> &  transform )

signal

Emitted when the transform is changed.

Parameters

transform

[in] the new transform.

---

The documentation for this class was generated from the following file:

• RobWorkStudio/src/rwslibs/jog/SliderTab.hpp