Implement Pose3d with common widget pose

src/gui/plugins/component_inspector/Pose3d.qml

@@ -15,7 +15,6 @@
  *
 */
 import QtQuick 2.9
-import QtQuick.Controls 1.4
 import QtQuick.Controls 2.2
 import QtQuick.Controls.Material 2.1
 import QtQuick.Layouts 1.3
@@ -25,7 +24,7 @@ import "qrc:/qml"
 
 // Item displaying 3D pose information.
 Rectangle {
- height: header.height + content.height
+ height: header.height + gzPoseContent.height
  width: componentInspector.width
  color: index % 2 == 0 ? lightGrey : darkGrey
 
@@ -35,83 +34,10 @@ Rectangle {
  // Horizontal margins
  property int margin: 5
 
- // Maximum spinbox value
- property double spinMax: 1000000
-
- // Read-only / write
- property bool readOnly: {
- var isModel = entityType == "model"
- return !(isModel) || nestedModel
- }
-
- // Loaded item for X
- property var xItem: {}
-
- // Loaded item for Y
- property var yItem: {}
-
- // Loaded item for Z
- property var zItem: {}
-
- // Loaded item for roll
- property var rollItem: {}
-
- // Loaded item for pitch
- property var pitchItem: {}
-
- // Loaded item for yaw
- property var yawItem: {}
-
  // Send new pose to C++
- function sendPose() {
+ function sendPose(x, y, z, roll, pitch, yaw) {
  // TODO(anyone) There's a loss of precision when these values get to C++
- Pose3dImpl.OnPose(
- xItem.value,
- yItem.value,
- zItem.value,
- rollItem.value,
- pitchItem.value,
- yawItem.value
- );
- }
-
- FontMetrics {
- id: fontMetrics
- font.family: "Roboto"
- }
-
- /**
- * Used to create a spin box
- */
- Component {
- id: writableNumber
- IgnSpinBox {
- id: writableSpin
- value: writableSpin.activeFocus ? writableSpin.value : numberValue
- minimumValue: -spinMax
- maximumValue: spinMax
- decimals: getDecimals(writableSpin.width)
- onEditingFinished: {
- sendPose()
- }
- }
- }
-
- /**
- * Used to create a read-only number
- */
- Component {
- id: readOnlyNumber
- Text {
- id: numberText
- anchors.fill: parent
- horizontalAlignment: Text.AlignRight
- verticalAlignment: Text.AlignVCenter
- text: {
- var decimals = getDecimals(numberText.width)
- return numberValue.toFixed(decimals)
- }
- }
+ Pose3dImpl.OnPose(x, y, z, roll, pitch, yaw);
  }
 
  Column {
@@ -135,7 +61,7 @@ Rectangle {
  sourceSize.width: indentation
  fillMode: Image.Pad
  Layout.alignment : Qt.AlignVCenter
- source: content.show ?
+ source: gzPoseContent.show ?
  "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
  }
  TypeHeader {
@@ -150,7 +76,7 @@ Rectangle {
  hoverEnabled: true
  cursorShape: Qt.PointingHandCursor
  onClicked: {
- content.show = !content.show
+ gzPoseContent.show = !gzPoseContent.show
  }
  onEntered: {
  header.color = highlightColor
@@ -160,166 +86,52 @@ Rectangle {
  }
  }
  }
-
- // Content
  Rectangle {
  id: content
- property bool show: false
- width: parent.width
- height: show ? grid.height : 0
- clip: true
  color: "transparent"
-
- Behavior on height {
- NumberAnimation {
- duration: 200;
- easing.type: Easing.InOutQuad
- }
- }
-
- GridLayout {
- id: grid
+ width: parent.width
+ height: gzPoseContent.height
+ RowLayout {
+ id: gzPoseRow
  width: parent.width
- columns: 6
 
  // Left spacer
  Item {
- Layout.rowSpan: 3
- width: margin + indentation
- }
-
- Text {
- text: 'X (m)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
- }
-
- Item {
- Layout.fillWidth: true
- height: 40
- Loader {
- id: xLoader
- anchors.fill: parent
- property double numberValue: model.data[0]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- xItem = xLoader.item
- }
- }
- }
-
- Text {
- text: 'Roll (rad)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
+ Layout.preferredWidth: margin + indentation
  }
 
- Item {
+ // Content
+ GzPose {
+ id: gzPoseContent
  Layout.fillWidth: true
- height: 40
- Loader {
- id: rollLoader
- anchors.fill: parent
- property double numberValue: model.data[3]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- rollItem = rollLoader.item
- }
- }
- }
 
- // Right spacer
- Item {
- Layout.rowSpan: 3
- width: margin
- }
-
- Text {
- text: 'Y (m)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
- }
-
- Item {
- Layout.fillWidth: true
- height: 40
- Loader {
- id: yLoader
- anchors.fill: parent
- property double numberValue: model.data[1]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- yItem = yLoader.item
- }
+ readOnly: {
+ var isModel = entityType == "model"
+ return !(isModel) || nestedModel
  }
- }
 
- Text {
- text: 'Pitch (rad)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
- }
+  xValue: model.data[0]
+ yValue: model.data[1]
+ zValue: model.data[2]
+ rollValue: model.data[3]
+ pitchValue: model.data[4]
+  yawValue: model.data[5]
 
- Item {
- Layout.fillWidth: true
- height: 40
- Loader {
- id: pitchLoader
- anchors.fill: parent
- property double numberValue: model.data[4]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- pitchItem = pitchLoader.item
- }
+ onGzPoseSet: {
+ // _x, _y, _z, _roll, _pitch, _yaw are parameters of signal gzPoseSet
+ sendPose(_x, _y, _z, _roll, _pitch, _yaw)
  }
- }
-
- Text {
- text: 'Z (m)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
- }
 
- Item {
- Layout.fillWidth: true
- height: 40
- Loader {
- id: zLoader
- anchors.fill: parent
- property double numberValue: model.data[2]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- zItem = zLoader.item
- }
- }
- }
+ // By default it is closed
+ show: false
 
- Text {
- text: 'Yaw (rad)'
- leftPadding: 5
- color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
- font.pointSize: 12
- }
+ } // end gzPoseContent
 
+ // Right spacer
  Item {
- Layout.fillWidth: true
- height: 40
- Loader {
- id: yawLoader
- anchors.fill: parent
- property double numberValue: model.data[5]
- sourceComponent: readOnly ? readOnlyNumber : writableNumber
- onLoaded: {
- yawItem = yawLoader.item
- }
- }
+ Layout.preferredWidth: margin
  }
- }
- }
- }
-}
+ } // end RowLayout
+ } // end Rectangle
+ } // end Column
+} // end Rectangle