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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Sungmoon Joo <sungmoon.joo@gmail.com>
 * Date: Jan 2014
 *
 * Humanoid Robotics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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 */

#ifndef INSPECTOR_TAB_H
#define INSPECTOR_TAB_H

// Local includes
#include "ui_InspectorTab.h"
#include "TreeView.h"

// DART includes
#include <dart/simulation/World.h>

class InspectorTab : public QDockWidget {

    Q_OBJECT

public:
    InspectorTab(QWidget *parent, dart::simulation::World *simWorld, TreeView *treeViewer);

    ~InspectorTab();

    void initializeTab();


private slots:
    void changeSelectedJoint(int sliderValue); //, simulation::World* mWorld, Tree_View* treeviewer);
    void receiveSeletedItem(TreeViewReturn *active_item);
    void changePositionAndOrientation(int sliderValue);


private:
    Ui::InspectorTab *_ui;
    dart::simulation::World *_simWorld;
    TreeView *_treeview;
    QSlider *_positionSlider_0;
    QDoubleSpinBox *_positionSpinBox_0;
    int _selectedTypeFromTree;

    Eigen::Matrix<double, 6, 1> getRootTransform(dart::dynamics::Skeleton *robot);

    void setRootTransform(dart::dynamics::Skeleton *robot, const Eigen::Matrix<double, 6, 1> &pose);

    Eigen::Matrix<double, 6, 1> getPoseFromTransform(const Eigen::Isometry3d &tf);

}; // end class InspectorTab

#endif // INSPECTOR_TAB_H