make the root of the transformer display selectable

Sometimes devs might want to switch the visualization root to another frame, e.g. switch from odometry to slam this is now possible
rock-core · Oct 12, 2022 · 752eba0 · 752eba0
1 parent 803f2c7
commit 752eba0
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diff --git a/src/Vizkit3DWidget.cpp b/src/Vizkit3DWidget.cpp
@@ -128,6 +128,10 @@ bool Vizkit3DConfig::isAxesLabels() const
     return getWidget()->isAxesLabels();
 }
 
+void Vizkit3DConfig::setTransformerRootFrame (const QStringList &frames) {
+    return getWidget()->setRootFrame(frames.front());
+}
+
 namespace
 {
     struct ManipulatorDefinition
@@ -926,6 +930,7 @@ void Vizkit3DWidget::setTransformation(const QString &source_frame,const QString
         registerClickHandler(target_frame.toStdString());
 
         emit propertyChanged("frame");
+        emit propertyChanged("transformerroot");
         // first: VizPluginBase*
         // second: osg::ref_ptr<osg::Group>
 

diff --git a/src/Vizkit3DWidget.hpp b/src/Vizkit3DWidget.hpp
@@ -152,6 +152,7 @@ namespace vizkit3d
             Q_PROPERTY( bool axes_labels READ isAxesLabels WRITE setAxesLabels)
             Q_PROPERTY( QColor background READ getBackgroundColor WRITE setBackgroundColor)
             Q_PROPERTY( QStringList frame READ getVisualizationFrames WRITE setVisualizationFrame)
+            Q_PROPERTY( QStringList transformerroot READ getVisualizationFrames WRITE setTransformerRootFrame)
             Q_PROPERTY( bool environment READ isEnvironmentPluginEnabled WRITE setEnvironmentPluginEnabled)
             Q_PROPERTY( bool transformer READ isTransformer WRITE setTransformer)
             Q_ENUMS( CAMERA_MANIPULATORS )
@@ -186,6 +187,8 @@ namespace vizkit3d
             QColor getBackgroundColor()const;
             void setBackgroundColor(QColor color);
 
+            void setTransformerRootFrame (const QStringList &frames);
+
             /** Converts a manipulator ID to its name */
             static QString manipulatorIDToName(CAMERA_MANIPULATORS id);
             /** Converts a manipulator name to its ID */