irbcaminterfacepublic.h

#ifndef IRBCAMINTERFACEPUBLIC_H
#define IRBCAMINTERFACEPUBLIC_H
 
#include <qguiapplication.h>
#include <qqmlapplicationengine.h>
 
#include <QMatrix4x4>
#include <QObject>
 
#include "targetproxymodel.h"
#include "hokaqmlutils.hpp"
 
class IrbcamInterfacePublic : public HokaSingleton<IrbcamInterfacePublic, QObject, QJSEngine::CppOwnership>
{
    Q_OBJECT
 
    // Don't use Doxygen documentation on this property. It is only used for development in Hokarob.
    Q_PROPERTY(bool irbcamForWeb READ IrbcamForWeb CONSTANT)
    // Don't use Doxygen documentation on this property. It is needed to load the plugin
    Q_PROPERTY(QString pluginUrl READ getPluginUrl CONSTANT)
 
    
    Q_PROPERTY(QString pluginName READ getPluginName CONSTANT)
 
    Q_PROPERTY(TargetProxyModel* pathModel READ pathModel CONSTANT FINAL)
 
    Q_PROPERTY(QRect mainWindow READ getMainWindow NOTIFY mainWindowChanged)
 
    IrbcamInterfacePublic();
    friend HokaSingleton;
 
public:
    ~IrbcamInterfacePublic();
 
    static void RegisterContext();
 
    void init(QGuiApplication *app);
 
 
    enum RotationSequence {
        Xyz = int(Hokarob::RotationSequence::xyz),
        Xzy = int(Hokarob::RotationSequence::xzy),
        Yxz = int(Hokarob::RotationSequence::yxz),
        Yzx = int(Hokarob::RotationSequence::yzx),
        Zxy = int(Hokarob::RotationSequence::zxy),
        Zyx = int(Hokarob::RotationSequence::zyx),
        Zyz = int(Hokarob::RotationSequence::zyz)
    };
    Q_ENUM(RotationSequence)
 
    
    Q_INVOKABLE QQuaternion eulerToQuaternion(double rx, double ry, double rz, RotationSequence seq);
    Q_INVOKABLE QVector3D quaternionToEuler(QQuaternion quat, RotationSequence seq);
    Q_INVOKABLE double degToRad(double val);
    Q_INVOKABLE double radToDeg(double val);
    Q_INVOKABLE QQuaternion matrixToQuaternion(QMatrix4x4 mat);
    Q_INVOKABLE QMatrix4x4 quaternionToMatrix(QQuaternion quat);
    
    Q_INVOKABLE QVector3D quaternionToRpy(QQuaternion quat);
 
    TargetProxyModel* pathModel();
 
    enum CoordinateFrame {
        UserFrame = 0,
        ObjectFrame,
        TooltipFrame,
        StationaryToolBaseFrame,
        RobotBaseFrame,
        RotaryTableBaseFrame,
        LinearTrackBaseFrame
    };
    Q_ENUM(CoordinateFrame)
 
    
    enum MotionType
    {
        MotionTypeLinear = int(EMotionType::MotionTypeLinear),
        MotionTypeArcMidpoint = int(EMotionType::MotionTypeArcMidpoint),
        MotionTypeLinearLiftPoint = int(EMotionType::MotionTypeLinearLiftPoint),
        MotionTypeRotaryLiftPoint1 = int(EMotionType::MotionTypeRotaryLiftPoint1),
        MotionTypeRotaryLiftPoint2 = int(EMotionType::MotionTypeRotaryLiftPoint2),
        MotionTypeRotaryLiftPoint3 = int(EMotionType::MotionTypeRotaryLiftPoint3),
        MotionTypeRotaryLiftPoint4 = int(EMotionType::MotionTypeRotaryLiftPoint4),
        MotionTypeJoint = int(EMotionType::MotionTypeJoint),
    };
    Q_ENUM(MotionType)
 
    
    enum SpeedMode
    {
        SpeedModeInput = int(ESpeedMode::SpeedModeInput),
        SpeedModeRapid = int(ESpeedMode::SpeedModeRapid),
        SpeedModeCutting = int(ESpeedMode::SpeedModeCutting),
    };
    Q_ENUM(SpeedMode)
 
    
    enum KinSolution
    {
        NotSolved = int(EKinSolution::NotSolved),
        Failed = int(EKinSolution::Failed),
        Solved = int(EKinSolution::Solved),
    };
    Q_ENUM(KinSolution)
 
    
    Q_INVOKABLE void setCoordinateFrame(CoordinateFrame frame, QVector3D position, QQuaternion quat);
 
    static bool IrbcamForWeb();
public slots:
 
signals:
    void mainWindowChanged();
 
};
 
#endif // IRBCAMINTERFACEPUBLIC_H