getOrientationApp.m

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% =========================================================================== %
%> @brief app that helps finding an orientation and the corresponding quaternion
%>
%> This app is mainly an orientation visualizer and editor. It can be used to
%> find the correct orientation of a body and the corresponding quaternion. It
%> is designed to work with the app @ref trajectoryGenerationApp.m, but can be
%> used as a standalone app as well.
%>
%> The app can be called with no arguments:
%> @code
%> getOrientationApp;
%> @endcode
%>
%> or with a quaternion as argument:
%> @code
%> getOrientationApp([1,0,0,0]);
%> @endcode
%>
%> or with a quaternion and a calling app as argument:
%> @code
%> getOrientationApp(caller,[1,0,0,0]);
%> @endcode
%> in the last case, the app will save the new quaternion in the public property
%> appReturnValue of the calling app.
%>
%> @copyright see the file @ref LICENSE in the root directory of the repository
%>
%> \par  Example Usage
%>
%> \image html getOrientationApp.gif
% =========================================================================== %
 
classdef getOrientationApp < matlab.apps.AppBase
 
    % Properties that correspond to app components
    properties (Access = public)
        OrientationAppUIFigure    matlab.ui.Figure
        gridMain                  matlab.ui.container.GridLayout
        gridSliders               matlab.ui.container.GridLayout
        mossFeb2024Label          matlab.ui.control.Label
        Image                     matlab.ui.control.Image
        QuaternionEditField       matlab.ui.control.EditField
        QuaternionEditFieldLabel  matlab.ui.control.Label
        SaveOrientationButton     matlab.ui.control.Button
        DefineOrientationLabel    matlab.ui.control.Label
        slidRoll                  matlab.ui.control.Slider
        RollLabel                 matlab.ui.control.Label
        slidPitch                 matlab.ui.control.Slider
        PitchLabel                matlab.ui.control.Label
        slidYaw                   matlab.ui.control.Slider
        YawLabel                  matlab.ui.control.Label
        poseVisu                  matlab.ui.control.UIAxes
    end
 
    
    properties (Access = private)
        callingApp
        quat % orientation
        quatSave % backup from beginning
    end
    
    methods (Access = private)
        
    end
    
 
    % Callbacks that handle component events
    methods (Access = private)
 
        % Code that executes after component creation
        function startupFcn(app, varargin)
 
            switch nargin
                case 1
                    caller = missing;
                    quat = [1,0,0,0];
                case 2
                    caller = missing;
                    quat = varargin{1};
                case 3
                    caller = varargin{1};
                    quat = varargin{2};
                otherwise
                    e = errordlg("Invalid number of arguments");
                    uiwait(e);
                    app.OrientationAppUIFigureCloseRequest;
            end
                      
            app.callingApp = caller;
            
            try
                app.quat = quaternion(quat);
            catch
                app.quat = quaternion([1,0,0,0]);
            end
 
            % save the argument for backup
            app.quatSave = app.quat;
 
            % set the sliders correctly
            ang = app.quat.eulerd("ZYX","frame");
            app.slidYaw.Value = mod(ang(1) + 360,360);
            app.slidPitch.Value = mod(ang(2) + 360,360);
            app.slidRoll.Value = mod(ang(3) + 360,360);
 
            % set the quaternion correctly
            app.QuaternionEditField.Value = sprintf("%.2f,%.2f,%.2f,%.2f",app.quat.compact);
 
            % make the poseplot
            poseplot(app.poseVisu,app.quat,"NED","MeshFileName","jumpSimplified.stl");
            app.poseVisu.XGrid = true;
            app.poseVisu.YGrid = true;
            app.poseVisu.ZGrid = true;
            app.poseVisu.Children(1).PatchFaceAlpha = 0.7;
            app.poseVisu.Children(1).Orientation;
            app.poseVisu.Children(1).PatchFaceColor = [0,0.57,0.82];
            app.poseVisu.PlotBoxAspectRatioMode = "manual";
            app.poseVisu.PlotBoxAspectRatio = [1,1,1];
        end
 
        % Value changed function: slidPitch, slidRoll, slidYaw
        function sliderValChange(app, event)
            yaw = round(app.slidYaw.Value);
            pitch = round(app.slidPitch.Value);
            roll = round(app.slidRoll.Value);
 
            app.quat = quaternion([yaw,pitch,roll],"eulerd","ZYX","frame");
            app.poseVisu.Children(1).Orientation = app.quat;
 
            app.QuaternionEditField.Value = sprintf("%.2f,%.2f,%.2f,%.2f",app.quat.compact);
        end
 
        % Button pushed function: SaveOrientationButton
        function SaveOrientationButtonPushed(app, event)
            app.quatSave = app.quat;
            app.OrientationAppUIFigureCloseRequest;
        end
 
        % Close request function: OrientationAppUIFigure
        function OrientationAppUIFigureCloseRequest(app, event)
 
            if ~ismissing(app.callingApp)
                try
                    app.callingApp.appReturnValue = app.quatSave.compact;
                catch
                    e = errordlg("No Parent App Defined");
                    uiwait(e);
                end
            end
 
            delete(app)
            
        end
 
        % Value changed function: QuaternionEditField
        function QuaternionEditFieldValueChanged(app, event)
            value = str2double(strsplit(app.QuaternionEditField.Value,','));
 
            try
                app.quat = quaternion(value);
                ang = app.quat.eulerd("ZYX","frame");
                app.slidYaw.Value = mod(ang(1)+360,360);
                app.slidPitch.Value = mod(ang(2)+360,360);
                app.slidRoll.Value = mod(ang(3),360);
                app.sliderValChange;
            catch
                e = errordlg("Invalid Quaternion Input");
                app.sliderValChange;
                uiwait(e);
            end
            
 
        end
 
        % Key release function: OrientationAppUIFigure
        function OrientationAppUIFigureKeyRelease(app, event)
            key = event.Key;
            
            switch key
                case 'return'
                    app.SaveOrientationButtonPushed;
                case 'escape'
                    app.OrientationAppUIFigureCloseRequest;
            end
        end
    end
 
    % Component initialization
    methods (Access = private)
 
        % Create UIFigure and components
        function createComponents(app)
 
            % Create OrientationAppUIFigure and hide until all components are created
            app.OrientationAppUIFigure = uifigure('Visible', 'off');
            app.OrientationAppUIFigure.Position = [100 100 892 480];
            app.OrientationAppUIFigure.Name = 'Orientation App';
            app.OrientationAppUIFigure.Icon = 'logo_zhaw.png';
            app.OrientationAppUIFigure.CloseRequestFcn = createCallbackFcn(app, @OrientationAppUIFigureCloseRequest, true);
            app.OrientationAppUIFigure.KeyReleaseFcn = createCallbackFcn(app, @OrientationAppUIFigureKeyRelease, true);
            app.OrientationAppUIFigure.WindowStyle = 'modal';
 
            % Create gridMain
            app.gridMain = uigridlayout(app.OrientationAppUIFigure);
            app.gridMain.ColumnWidth = {'2x', '3x'};
            app.gridMain.RowHeight = {'1x'};
 
            % Create poseVisu
            app.poseVisu = uiaxes(app.gridMain);
            xlabel(app.poseVisu, 'X')
            ylabel(app.poseVisu, 'Y')
            zlabel(app.poseVisu, 'Z')
            app.poseVisu.Layout.Row = 1;
            app.poseVisu.Layout.Column = 2;
 
            % Create gridSliders
            app.gridSliders = uigridlayout(app.gridMain);
            app.gridSliders.ColumnWidth = {150, '1x'};
            app.gridSliders.RowHeight = {'1x', 'fit', 'fit', 'fit', 'fit', 'fit', 'fit', '1x', 75};
            app.gridSliders.Layout.Row = 1;
            app.gridSliders.Layout.Column = 1;
 
            % Create YawLabel
            app.YawLabel = uilabel(app.gridSliders);
            app.YawLabel.HorizontalAlignment = 'right';
            app.YawLabel.Layout.Row = 3;
            app.YawLabel.Layout.Column = 1;
            app.YawLabel.Text = 'Yaw';
 
            % Create slidYaw
            app.slidYaw = uislider(app.gridSliders);
            app.slidYaw.Limits = [0 360];
            app.slidYaw.ValueChangedFcn = createCallbackFcn(app, @sliderValChange, true);
            app.slidYaw.Layout.Row = 3;
            app.slidYaw.Layout.Column = 2;
 
            % Create PitchLabel
            app.PitchLabel = uilabel(app.gridSliders);
            app.PitchLabel.HorizontalAlignment = 'right';
            app.PitchLabel.Layout.Row = 4;
            app.PitchLabel.Layout.Column = 1;
            app.PitchLabel.Text = {'Pitch'; ''};
 
            % Create slidPitch
            app.slidPitch = uislider(app.gridSliders);
            app.slidPitch.Limits = [0 360];
            app.slidPitch.ValueChangedFcn = createCallbackFcn(app, @sliderValChange, true);
            app.slidPitch.Layout.Row = 4;
            app.slidPitch.Layout.Column = 2;
 
            % Create RollLabel
            app.RollLabel = uilabel(app.gridSliders);
            app.RollLabel.HorizontalAlignment = 'right';
            app.RollLabel.Layout.Row = 5;
            app.RollLabel.Layout.Column = 1;
            app.RollLabel.Text = 'Roll';
 
            % Create slidRoll
            app.slidRoll = uislider(app.gridSliders);
            app.slidRoll.Limits = [0 360];
            app.slidRoll.ValueChangedFcn = createCallbackFcn(app, @sliderValChange, true);
            app.slidRoll.Layout.Row = 5;
            app.slidRoll.Layout.Column = 2;
 
            % Create DefineOrientationLabel
            app.DefineOrientationLabel = uilabel(app.gridSliders);
            app.DefineOrientationLabel.HorizontalAlignment = 'center';
            app.DefineOrientationLabel.FontSize = 18;
            app.DefineOrientationLabel.FontWeight = 'bold';
            app.DefineOrientationLabel.Layout.Row = 2;
            app.DefineOrientationLabel.Layout.Column = 2;
            app.DefineOrientationLabel.Text = 'Define Orientation';
 
            % Create SaveOrientationButton
            app.SaveOrientationButton = uibutton(app.gridSliders, 'push');
            app.SaveOrientationButton.ButtonPushedFcn = createCallbackFcn(app, @SaveOrientationButtonPushed, true);
            app.SaveOrientationButton.Layout.Row = 7;
            app.SaveOrientationButton.Layout.Column = 2;
            app.SaveOrientationButton.Text = 'Save Orientation';
 
            % Create QuaternionEditFieldLabel
            app.QuaternionEditFieldLabel = uilabel(app.gridSliders);
            app.QuaternionEditFieldLabel.HorizontalAlignment = 'right';
            app.QuaternionEditFieldLabel.Layout.Row = 6;
            app.QuaternionEditFieldLabel.Layout.Column = 1;
            app.QuaternionEditFieldLabel.Text = 'Quaternion';
 
            % Create QuaternionEditField
            app.QuaternionEditField = uieditfield(app.gridSliders, 'text');
            app.QuaternionEditField.ValueChangedFcn = createCallbackFcn(app, @QuaternionEditFieldValueChanged, true);
            app.QuaternionEditField.HorizontalAlignment = 'center';
            app.QuaternionEditField.Layout.Row = 6;
            app.QuaternionEditField.Layout.Column = 2;
            app.QuaternionEditField.Value = '0,1,0,0';
 
            % Create Image
            app.Image = uiimage(app.gridSliders);
            app.Image.Layout.Row = 9;
            app.Image.Layout.Column = 1;
            app.Image.VerticalAlignment = 'bottom';
            app.Image.ImageSource = 'logo_isc.png';
 
            % Create mossFeb2024Label
            app.mossFeb2024Label = uilabel(app.gridSliders);
            app.mossFeb2024Label.HorizontalAlignment = 'center';
            app.mossFeb2024Label.VerticalAlignment = 'bottom';
            app.mossFeb2024Label.FontColor = [0.502 0.502 0.502];
            app.mossFeb2024Label.Layout.Row = 9;
            app.mossFeb2024Label.Layout.Column = 2;
            app.mossFeb2024Label.Text = 'moss, Feb 2024';
 
            % Show the figure after all components are created
            app.OrientationAppUIFigure.Visible = 'on';
        end
    end
 
    % App creation and deletion
    methods (Access = public)
 
        % Construct app
        function app = getOrientationApp(varargin)
 
            % Create UIFigure and components
            createComponents(app)
 
            % Register the app with App Designer
            registerApp(app, app.OrientationAppUIFigure)
 
            % Execute the startup function
            runStartupFcn(app, @(app)startupFcn(app, varargin{:}))
 
            if nargout == 0
                clear app
            end
        end
 
        % Code that executes before app deletion
        function delete(app)
 
            % Delete UIFigure when app is deleted
            delete(app.OrientationAppUIFigure)
        end
    end
end