QMainWindow(parent),

ui(new Ui::MainWindow),

_axis_len(97),_inertial_len(150)

{

ui->setupUi(this);

// Model

_model = new QStandardItemModel(5,3,parent);

_idx_seq1 = _model->index(0,0);

_idx_seq2 = _model->index(0,1);

_idx_seq3 = _model->index(0,2);

_idx_ang1 = _model->index(1,0);

_idx_ang2 = _model->index(1,1);

_idx_ang3 = _model->index(1,2);

_model->setData(_idx_seq1,QString("Roll"));

_model->setData(_idx_seq2,QString("Pitch"));

_model->setData(_idx_seq3,QString("Yaw"));

_model->setHeaderData(0,

Qt::Horizontal,

_model->data(_idx_seq1).toString());

_model->setHeaderData(1,

Qt::Horizontal,

_model->data(_idx_seq2).toString());

_model->setHeaderData(2,

Qt::Horizontal,

_model->data(_idx_seq3).toString());

_model->setData(_idx_ang1,0.0);

_model->setData(_idx_ang2,0.0);

_model->setData(_idx_ang3,0.0);

for ( int ii = 0 ; ii < 3 ; ii++ ) {

for ( int jj = 0 ; jj < 3 ; jj++ ) {

QModelIndex idx = _model->index(ii+2,jj);

qreal val = _mat(ii,jj);

_model->setData(idx,val);

}

}

// Minimum size policy ( i don't care about growing)

QSizePolicy size_policy_min(QSizePolicy::Minimum, QSizePolicy::Minimum);

QSizePolicy size_policy_fixed(QSizePolicy::Fixed,

QSizePolicy::Fixed);

// Sequence view

_sequenceview = new QTableView(parent);

_sequenceview->setModel(_model);

_sequenceview->verticalHeader()->setVisible(false);

_sequenceview->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);

_sequenceview->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);

_sequenceview->horizontalHeader()->setMovable(true);

for ( int ii = 0 ; ii < 6; ii++ ) {

_sequenceview->setRowHidden(ii,true);

}

_sequenceview->setRowHidden(1,false);

// Matrix view

_matrixview = new QTableView(parent);

_matrixview->setModel(_model);

_matrixview->horizontalHeader()->setVisible(false);

_matrixview->verticalHeader()->setVisible(false);

_matrixview->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);

_matrixview->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);

_matrixview->setRowHidden(0,true);

_matrixview->setRowHidden(1,true);

// Scene view

_scene = new QGraphicsScene(parent);

_scene->setBackgroundBrush(QBrush(Qt::white));

_gview = new QGraphicsView(_scene);

_gview->setRenderHint(QPainter::Antialiasing);

_gview->horizontalScrollBar()->setVisible(false);

_gview->verticalScrollBar()->setVisible(false);

_gview->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);

_xinertial = new QGraphicsLineItem(QLine(QPoint(0,0),

QPoint(_inertial_len,0)));

_scene->addItem(_xinertial);

QGraphicsSimpleTextItem* xlabel = new

QGraphicsSimpleTextItem(QString("x"));

_scene->addItem(xlabel);

QRectF bb = xlabel->boundingRect();

xlabel->setPos(_inertial_len+10,-bb.height()/2.0);

_yinertial = new QGraphicsLineItem(QLine(QPoint(0,0),

QPoint(0,-_inertial_len)));

_scene->addItem(_yinertial);

QGraphicsSimpleTextItem* ylabel = new QGraphicsSimpleTextItem(QString("y"));

_scene->addItem(ylabel);

bb = ylabel->boundingRect();

ylabel->setPos(-bb.width()/2.0,-_inertial_len-10-bb.height()/2.0 );

_xitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(_axis_len,0)));

QPen xpen(Qt::red);

xpen.setWidth(6);

_xitem->setPen(xpen);

_yitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(0,-_axis_len)));

QPen ypen(Qt::green);

ypen.setWidth(6);

_yitem->setPen(ypen);

_zitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(0,0)));

QPen zpen(Qt::blue);

zpen.setWidth(6);

_zitem->setPen(zpen);

QGraphicsEllipseItem* ell = new QGraphicsEllipseItem(

-100,-100,200,200);

_scene->addItem(_xitem);

_scene->addItem(_yitem);

_scene->addItem(_zitem);

_scene->addItem(ell);

QPointF center = _scene->itemsBoundingRect().center();

_gview->centerOn(center);

// Connect

connect(_model,SIGNAL(dataChanged(QModelIndex,QModelIndex)),

this,SLOT(_slot_model_data_changed(QModelIndex,QModelIndex)));

//

// Widget Layout

//

QWidget *mainwidget = new QWidget;

setCentralWidget(mainwidget);

setWindowTitle(tr("Euler"));

setUnifiedTitleAndToolBarOnMac(true);

QHBoxLayout *mainlayout = new QHBoxLayout;

QVBoxLayout *leftbox = new QVBoxLayout;

leftbox->addWidget(_sequenceview);

leftbox->addWidget(_matrixview);

mainlayout->addLayout(leftbox);

mainlayout->addWidget(_gview);

mainwidget->setLayout(mainlayout);

const QModelIndex& idx2)

{

if ( idx1.row() > 1 ) {

return ;

}

QString seq1 = _model->data(_idx_seq1).toString();

QString seq2 = _model->data(_idx_seq2).toString();

QString seq3 = _model->data(_idx_seq3).toString();

QVector3D axis1 = _euler_convention.to_axis(seq1);

QVector3D axis2 = _euler_convention.to_axis(seq2);

QVector3D axis3 = _euler_convention.to_axis(seq3);

qreal ang1 = _model->data(_idx_ang1).toDouble();

qreal ang2 = _model->data(_idx_ang2).toDouble();

qreal ang3 = _model->data(_idx_ang3).toDouble();

_mat.setToIdentity();

_mat.rotate(ang1,axis1);

_mat.rotate(ang2,axis2);

_mat.rotate(ang3,axis3);

for ( int ii = 0 ; ii < 3 ; ii++ ) {

for ( int jj = 0 ; jj < 3 ; jj++ ) {

QModelIndex idx = _model->index(ii+2,jj);

qreal val = _mat(ii,jj);

_model->setData(idx,val);

}

}

_update_scene_matrix(_mat);

{

QMatrix4x4 moo;

QVector3D eye(sqrt(2.0)*_axis_len/2.0,

0,

sqrt(2.0)*_axis_len/2.0);

QVector3D center(0,0,0);

QVector3D up(0,1,0);

//moo.lookAt(eye,center,up);

QVector4D xvec(_axis_len,0,0,1);

QVector4D yvec(0,_axis_len,0,1);

QVector4D zvec(0,0,_axis_len,1);

xvec = moo*_mat*xvec;

yvec = moo*_mat*yvec;

zvec = moo*_mat*zvec;

_xitem->setLine(0,0,xvec.x(),-xvec.y());

_yitem->setLine(0,0,yvec.x(),-yvec.y());

_zitem->setLine(0,0,zvec.x(),-zvec.y());