bundles/addons/org.eclipse.apogy.addons.vehicle.ui/src/org/eclipse/apogy/addons/vehicle/ui/composites/VehiclePoseCorrectorComposite.java - gerrit/apogy/apogy - Git at Google

 /*******************************************************************************
  * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency.
  * All rights reserved. This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License v1.0
  * which accompanies this distribution, and is available at
  * http://www.eclipse.org/legal/epl-v10.html
  *
  * Contributors:
  * 	 	 Pierre Allard - initial API and implementation
  * 	 	 Regent L'Archeveque
  *
  * SPDX-License-Identifier: EPL-1.0
  *******************************************************************************/
 package org.eclipse.apogy.addons.vehicle.ui.composites;

 import java.text.DecimalFormat;

 import javax.vecmath.Vector3d;

 import org.eclipse.apogy.addons.vehicle.ApogyAddonsVehiclePackage;
 import org.eclipse.apogy.addons.vehicle.OrientationCorrectionMode;
 import org.eclipse.apogy.addons.vehicle.VehiclePoseCorrector;
 import org.eclipse.apogy.addons.vehicle.ZCorrectionMode;
 import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
 import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
 import org.eclipse.apogy.common.math.GeometricUtils;
 import org.eclipse.apogy.common.math.Matrix3x3;
 import org.eclipse.apogy.common.math.Tuple3d;
 import org.eclipse.apogy.common.math.ui.composites.Tuple3dComposite;
 import org.eclipse.apogy.core.ApogyCorePackage;
 import org.eclipse.core.databinding.DataBindingContext;
 import org.eclipse.core.databinding.UpdateValueStrategy;
 import org.eclipse.core.databinding.conversion.Converter;
 import org.eclipse.core.databinding.observable.value.IObservableValue;
 import org.eclipse.core.runtime.IProgressMonitor;
 import org.eclipse.core.runtime.IStatus;
 import org.eclipse.core.runtime.Status;
 import org.eclipse.core.runtime.jobs.Job;
 import org.eclipse.emf.common.notify.Adapter;
 import org.eclipse.emf.common.notify.AdapterFactory;
 import org.eclipse.emf.common.notify.Notification;
 import org.eclipse.emf.common.notify.impl.AdapterImpl;
 import org.eclipse.emf.databinding.FeaturePath;
 import org.eclipse.emf.databinding.edit.EMFEditProperties;
 import org.eclipse.emf.edit.provider.ComposedAdapterFactory;
 import org.eclipse.emf.edit.ui.provider.AdapterFactoryLabelProvider;
 import org.eclipse.jface.databinding.swt.WidgetProperties;
 import org.eclipse.jface.databinding.viewers.ViewerProperties;
 import org.eclipse.jface.viewers.ArrayContentProvider;
 import org.eclipse.jface.viewers.ComboViewer;
 import org.eclipse.swt.SWT;
 import org.eclipse.swt.events.DisposeEvent;
 import org.eclipse.swt.events.DisposeListener;
 import org.eclipse.swt.events.SelectionEvent;
 import org.eclipse.swt.events.SelectionListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.layout.GridLayout;
 import org.eclipse.swt.widgets.Button;
 import org.eclipse.swt.widgets.Composite;
 import org.eclipse.swt.widgets.Label;
 import org.eclipse.swt.widgets.Text;

 public class VehiclePoseCorrectorComposite extends Composite {
 	public static final String DEGREE_STRING = "\u00b0";

 	private final AdapterFactory adapterFactory = new ComposedAdapterFactory(
 			ComposedAdapterFactory.Descriptor.Registry.INSTANCE);

 	private VehiclePoseCorrector vehiclePoseCorrector;

 	private Adapter orientationCorrectionAdapter;

 	private Button btnEnable;
 	private Button btnReinitialize;
 	private ComboViewer comboZCorrectionMode;
 	private ComboViewer comboOrientationCorrectionMode;
 	private Text txtZCorrection;
 	private Tuple3dComposite orientationCorrectionComposite;
 	private final Tuple3d orientationCorrection = ApogyCommonMathFacade.INSTANCE.createTuple3d(0, 0, 0);

 	private final DecimalFormat zCorrectionFormat = new DecimalFormat("0.000");
 	private DataBindingContext m_bindingContext;

 	public VehiclePoseCorrectorComposite(Composite parent, int style) {
 		super(parent, style);
 		setLayout(new GridLayout(3, false));

 		Label lblEnable = new Label(this, SWT.NONE);
 		lblEnable.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
 		lblEnable.setText("Enabled :");

 		this.btnEnable = new Button(this, SWT.CHECK);

 		this.btnReinitialize = new Button(this, SWT.NONE);
 		this.btnReinitialize
 				.setToolTipText("Forces re-initialization of the pose corrector meshes contact geometries.");
 		this.btnReinitialize.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, false, false, 1, 1));
 		this.btnReinitialize.setText("Re-Initialize");
 		this.btnReinitialize.addSelectionListener(new SelectionListener() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (getVehiclePoseCorrector() != null) {
 					// Run this in a job.
 					Job job = new Job("") {
 						@Override
 						protected IStatus run(IProgressMonitor monitor) {
 							getVehiclePoseCorrector().reInitialize();
 							return Status.OK_STATUS;
 						}
 					};
 					job.schedule();
 				}
 			}

 			@Override
 			public void widgetDefaultSelected(SelectionEvent e) {
 			}
 		});

 		Label lblZCorrectionMode = new Label(this, SWT.NONE);
 		lblZCorrectionMode.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
 		lblZCorrectionMode.setText("Z Correction Mode:");

 		this.comboZCorrectionMode = new ComboViewer(this, SWT.NONE);
 		this.comboZCorrectionMode.getCombo().setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
 		this.comboZCorrectionMode.setContentProvider(new ArrayContentProvider());
 		this.comboZCorrectionMode.setLabelProvider(new AdapterFactoryLabelProvider(this.adapterFactory));
 		this.comboZCorrectionMode.setInput(ZCorrectionMode.values());

 		Label lblOrientationCorrectionMode = new Label(this, SWT.NONE);
 		lblOrientationCorrectionMode.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
 		lblOrientationCorrectionMode.setText("Orientation Correction Mode:");

 		this.comboOrientationCorrectionMode = new ComboViewer(this, SWT.NONE);
 		this.comboOrientationCorrectionMode.getCombo()
 				.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
 		this.comboOrientationCorrectionMode.setContentProvider(new ArrayContentProvider());
 		this.comboOrientationCorrectionMode.setLabelProvider(new AdapterFactoryLabelProvider(this.adapterFactory));
 		this.comboOrientationCorrectionMode.setInput(OrientationCorrectionMode.values());

 		Label lblCurrentZCorrectionm = new Label(this, SWT.NONE);
 		lblCurrentZCorrectionm.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
 		lblCurrentZCorrectionm.setText("Z Correction (m):");

 		this.txtZCorrection = new Text(this, SWT.BORDER);
 		this.txtZCorrection.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
 		this.txtZCorrection.setEditable(false);

 		Label lblCurrentOrientationCorrection = new Label(this, SWT.NONE);
 		lblCurrentOrientationCorrection.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
 		lblCurrentOrientationCorrection.setText("Orientation Correction (" + DEGREE_STRING + "):");

 		this.orientationCorrectionComposite = new Tuple3dComposite(this, SWT.NONE, "0.00");
 		GridData gd_orientation = new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1);
 		gd_orientation.widthHint = 300;
 		gd_orientation.minimumWidth = 300;
 		this.orientationCorrectionComposite.setLayoutData(gd_orientation);
 		this.orientationCorrectionComposite.setEnableEditing(false);
 		this.orientationCorrectionComposite.setTuple3d(this.orientationCorrection);

 		enableControls(false);

 		// Dispose
 		addDisposeListener(new DisposeListener() {
 			@Override
 			public void widgetDisposed(DisposeEvent e) {
 				if (VehiclePoseCorrectorComposite.this.m_bindingContext != null)
 					VehiclePoseCorrectorComposite.this.m_bindingContext.dispose();
 				if (VehiclePoseCorrectorComposite.this.vehiclePoseCorrector != null)
 					VehiclePoseCorrectorComposite.this.vehiclePoseCorrector.eAdapters()
 							.remove(getOrientationCorrectionAdapter());
 			}
 		});
 	}

 	public VehiclePoseCorrector getVehiclePoseCorrector() {
 		return this.vehiclePoseCorrector;
 	}

 	public void setVehiclePoseCorrector(VehiclePoseCorrector vehiclePoseCorrector) {
 		if (vehiclePoseCorrector != null)
 			vehiclePoseCorrector.eAdapters().remove(getOrientationCorrectionAdapter());
 		if (this.m_bindingContext != null)
 			this.m_bindingContext.dispose();

 		this.vehiclePoseCorrector = vehiclePoseCorrector;

 		// Enables / disabled the controls.
 		enableControls(vehiclePoseCorrector != null);

 		if (vehiclePoseCorrector != null) {
 			this.m_bindingContext = customInitDataBindings();
 			vehiclePoseCorrector.eAdapters().add(getOrientationCorrectionAdapter());
 		}
 	}

 	public void enableControls(boolean enabled) {
 		if (this.btnEnable != null && !this.btnEnable.isDisposed())
 			this.btnEnable.setEnabled(enabled);
 		if (this.btnReinitialize != null && !this.btnReinitialize.isDisposed())
 			this.btnReinitialize.setEnabled(enabled);
 		if (this.txtZCorrection != null && !this.txtZCorrection.isDisposed())
 			this.txtZCorrection.setEnabled(enabled);
 		if (this.orientationCorrectionComposite != null && !this.orientationCorrectionComposite.isDisposed())
 			this.orientationCorrectionComposite.setEnabled(enabled);

 		if (this.comboZCorrectionMode != null && this.comboZCorrectionMode.getCombo() != null
 				&& !this.comboZCorrectionMode.getCombo().isDisposed()) {
 			this.comboZCorrectionMode.getControl().setEnabled(enabled);
 			this.comboZCorrectionMode.getCombo().setEnabled(enabled);
 		}

 		if (this.comboOrientationCorrectionMode != null && this.comboOrientationCorrectionMode.getCombo() != null
 				&& !this.comboOrientationCorrectionMode.getCombo().isDisposed()) {
 			this.comboOrientationCorrectionMode.getControl().setEnabled(enabled);
 			this.comboOrientationCorrectionMode.getCombo().setEnabled(enabled);
 		}
 	}

 	@SuppressWarnings("unchecked")
 	protected DataBindingContext customInitDataBindings() {
 		DataBindingContext bindingContext = new DataBindingContext();

 		/* Enabled. */
 		IObservableValue<Double> observeEnabled = EMFEditProperties
 				.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
 						FeaturePath.fromList(ApogyCorePackage.Literals.ABSTRACT_APOGY_SYSTEM_POSE_CORRECTOR__ENABLED))
 				.observe(this.vehiclePoseCorrector);
 		IObservableValue<String> observeEnabledButtton = WidgetProperties.selection().observe(this.btnEnable);

 		bindingContext.bindValue(observeEnabledButtton, observeEnabled, new UpdateValueStrategy(),
 				new UpdateValueStrategy());

 		/* Z Correction Value. */
 		IObservableValue<Double> observeZCorrection = EMFEditProperties
 				.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
 						FeaturePath.fromList(ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ZCORRECTION))
 				.observe(this.vehiclePoseCorrector);
 		IObservableValue<String> observeZCorrectionTxt = WidgetProperties.text(SWT.Modify).observe(this.txtZCorrection);

 		bindingContext.bindValue(observeZCorrectionTxt, observeZCorrection,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
 				new UpdateValueStrategy().setConverter(new Converter(Double.class, String.class) {
 					@Override
 					public Object convert(Object fromObject) {
 						return VehiclePoseCorrectorComposite.this.zCorrectionFormat.format(fromObject);
 					}

 				}));

 		/* Z Correction enablement. */
 		IObservableValue<String> observeZCorrectionEnable = WidgetProperties.enabled().observe(this.txtZCorrection);
 		bindingContext.bindValue(observeZCorrectionEnable, observeEnabled, new UpdateValueStrategy(),
 				new UpdateValueStrategy());

 		/* Orientation correction enablement */
 		IObservableValue<String> observeOrientationCorrectionEnable = WidgetProperties.enabled()
 				.observe(this.orientationCorrectionComposite);
 		bindingContext.bindValue(observeOrientationCorrectionEnable, observeEnabled, new UpdateValueStrategy(),
 				new UpdateValueStrategy());

 		/* Z Correction Mode. */
 		IObservableValue<Double> observeZCorrectionMode = EMFEditProperties
 				.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
 						FeaturePath
 								.fromList(ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ZCORRECTION_MODE))
 				.observe(this.vehiclePoseCorrector);

 		IObservableValue<?> observeZCorrectionModeCombViewer = ViewerProperties.singleSelection()
 				.observe(this.comboZCorrectionMode);
 		bindingContext.bindValue(observeZCorrectionModeCombViewer, observeZCorrectionMode, new UpdateValueStrategy(),
 				new UpdateValueStrategy());

 		/* Orientation Correction Mode. */
 		IObservableValue<Double> observeOrientationCorrectionMode = EMFEditProperties
 				.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
 						FeaturePath.fromList(
 								ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ORIENTATION_CORRECTION_MODE))
 				.observe(this.vehiclePoseCorrector);

 		IObservableValue<?> observeOrientationCorrectionModeComboViewer = ViewerProperties.singleSelection()
 				.observe(this.comboOrientationCorrectionMode);
 		bindingContext.bindValue(observeOrientationCorrectionModeComboViewer, observeOrientationCorrectionMode,
 				new UpdateValueStrategy(), new UpdateValueStrategy());

 		return bindingContext;
 	}

 	protected Adapter getOrientationCorrectionAdapter() {
 		if (this.orientationCorrectionAdapter == null) {
 			this.orientationCorrectionAdapter = new AdapterImpl() {
 				@Override
 				public void notifyChanged(Notification msg) {
 					if (msg.getNotifier() instanceof VehiclePoseCorrector) {
 						int featureID = msg.getFeatureID(VehiclePoseCorrector.class);
 						if (featureID == ApogyAddonsVehiclePackage.VEHICLE_POSE_CORRECTOR__ORIENTATION_CORRECTION) {
 							if (msg.getNewValue() instanceof Matrix3x3) {
 								Matrix3x3 rot = (Matrix3x3) msg.getNewValue();
 								Vector3d r = GeometricUtils.extractRotationFromXYZRotMatrix(rot.asMatrix3d());
 								VehiclePoseCorrectorComposite.this.orientationCorrection.setX(Math.toDegrees(r.x));
 								VehiclePoseCorrectorComposite.this.orientationCorrection.setY(Math.toDegrees(r.y));
 								VehiclePoseCorrectorComposite.this.orientationCorrection.setZ(Math.toDegrees(r.z));
 							}
 						}
 					}
 				}
 			};
 		}
 		return this.orientationCorrectionAdapter;
 	}

 }
	/*******************************************************************************
	* Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency.
	* All rights reserved. This program and the accompanying materials
	* are made available under the terms of the Eclipse Public License v1.0
	* which accompanies this distribution, and is available at
	* http://www.eclipse.org/legal/epl-v10.html
	*
	* Contributors:
	* Pierre Allard - initial API and implementation
	* Regent L'Archeveque
	*
	* SPDX-License-Identifier: EPL-1.0
	*******************************************************************************/
	package org.eclipse.apogy.addons.vehicle.ui.composites;

	import java.text.DecimalFormat;

	import javax.vecmath.Vector3d;

	import org.eclipse.apogy.addons.vehicle.ApogyAddonsVehiclePackage;
	import org.eclipse.apogy.addons.vehicle.OrientationCorrectionMode;
	import org.eclipse.apogy.addons.vehicle.VehiclePoseCorrector;
	import org.eclipse.apogy.addons.vehicle.ZCorrectionMode;
	import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
	import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
	import org.eclipse.apogy.common.math.GeometricUtils;
	import org.eclipse.apogy.common.math.Matrix3x3;
	import org.eclipse.apogy.common.math.Tuple3d;
	import org.eclipse.apogy.common.math.ui.composites.Tuple3dComposite;
	import org.eclipse.apogy.core.ApogyCorePackage;
	import org.eclipse.core.databinding.DataBindingContext;
	import org.eclipse.core.databinding.UpdateValueStrategy;
	import org.eclipse.core.databinding.conversion.Converter;
	import org.eclipse.core.databinding.observable.value.IObservableValue;
	import org.eclipse.core.runtime.IProgressMonitor;
	import org.eclipse.core.runtime.IStatus;
	import org.eclipse.core.runtime.Status;
	import org.eclipse.core.runtime.jobs.Job;
	import org.eclipse.emf.common.notify.Adapter;
	import org.eclipse.emf.common.notify.AdapterFactory;
	import org.eclipse.emf.common.notify.Notification;
	import org.eclipse.emf.common.notify.impl.AdapterImpl;
	import org.eclipse.emf.databinding.FeaturePath;
	import org.eclipse.emf.databinding.edit.EMFEditProperties;
	import org.eclipse.emf.edit.provider.ComposedAdapterFactory;
	import org.eclipse.emf.edit.ui.provider.AdapterFactoryLabelProvider;
	import org.eclipse.jface.databinding.swt.WidgetProperties;
	import org.eclipse.jface.databinding.viewers.ViewerProperties;
	import org.eclipse.jface.viewers.ArrayContentProvider;
	import org.eclipse.jface.viewers.ComboViewer;
	import org.eclipse.swt.SWT;
	import org.eclipse.swt.events.DisposeEvent;
	import org.eclipse.swt.events.DisposeListener;
	import org.eclipse.swt.events.SelectionEvent;
	import org.eclipse.swt.events.SelectionListener;
	import org.eclipse.swt.layout.GridData;
	import org.eclipse.swt.layout.GridLayout;
	import org.eclipse.swt.widgets.Button;
	import org.eclipse.swt.widgets.Composite;
	import org.eclipse.swt.widgets.Label;
	import org.eclipse.swt.widgets.Text;

	public class VehiclePoseCorrectorComposite extends Composite {
	public static final String DEGREE_STRING = "\u00b0";

	private final AdapterFactory adapterFactory = new ComposedAdapterFactory(
	ComposedAdapterFactory.Descriptor.Registry.INSTANCE);

	private VehiclePoseCorrector vehiclePoseCorrector;

	private Adapter orientationCorrectionAdapter;

	private Button btnEnable;
	private Button btnReinitialize;
	private ComboViewer comboZCorrectionMode;
	private ComboViewer comboOrientationCorrectionMode;
	private Text txtZCorrection;
	private Tuple3dComposite orientationCorrectionComposite;
	private final Tuple3d orientationCorrection = ApogyCommonMathFacade.INSTANCE.createTuple3d(0, 0, 0);

	private final DecimalFormat zCorrectionFormat = new DecimalFormat("0.000");
	private DataBindingContext m_bindingContext;

	public VehiclePoseCorrectorComposite(Composite parent, int style) {
	super(parent, style);
	setLayout(new GridLayout(3, false));

	Label lblEnable = new Label(this, SWT.NONE);
	lblEnable.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
	lblEnable.setText("Enabled :");

	this.btnEnable = new Button(this, SWT.CHECK);

	this.btnReinitialize = new Button(this, SWT.NONE);
	this.btnReinitialize
	.setToolTipText("Forces re-initialization of the pose corrector meshes contact geometries.");
	this.btnReinitialize.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, false, false, 1, 1));
	this.btnReinitialize.setText("Re-Initialize");
	this.btnReinitialize.addSelectionListener(new SelectionListener() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (getVehiclePoseCorrector() != null) {
	// Run this in a job.
	Job job = new Job("") {
	@Override
	protected IStatus run(IProgressMonitor monitor) {
	getVehiclePoseCorrector().reInitialize();
	return Status.OK_STATUS;
	}
	};
	job.schedule();
	}
	}

	@Override
	public void widgetDefaultSelected(SelectionEvent e) {
	}
	});

	Label lblZCorrectionMode = new Label(this, SWT.NONE);
	lblZCorrectionMode.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
	lblZCorrectionMode.setText("Z Correction Mode:");

	this.comboZCorrectionMode = new ComboViewer(this, SWT.NONE);
	this.comboZCorrectionMode.getCombo().setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
	this.comboZCorrectionMode.setContentProvider(new ArrayContentProvider());
	this.comboZCorrectionMode.setLabelProvider(new AdapterFactoryLabelProvider(this.adapterFactory));
	this.comboZCorrectionMode.setInput(ZCorrectionMode.values());

	Label lblOrientationCorrectionMode = new Label(this, SWT.NONE);
	lblOrientationCorrectionMode.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
	lblOrientationCorrectionMode.setText("Orientation Correction Mode:");

	this.comboOrientationCorrectionMode = new ComboViewer(this, SWT.NONE);
	this.comboOrientationCorrectionMode.getCombo()
	.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
	this.comboOrientationCorrectionMode.setContentProvider(new ArrayContentProvider());
	this.comboOrientationCorrectionMode.setLabelProvider(new AdapterFactoryLabelProvider(this.adapterFactory));
	this.comboOrientationCorrectionMode.setInput(OrientationCorrectionMode.values());

	Label lblCurrentZCorrectionm = new Label(this, SWT.NONE);
	lblCurrentZCorrectionm.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
	lblCurrentZCorrectionm.setText("Z Correction (m):");

	this.txtZCorrection = new Text(this, SWT.BORDER);
	this.txtZCorrection.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1));
	this.txtZCorrection.setEditable(false);

	Label lblCurrentOrientationCorrection = new Label(this, SWT.NONE);
	lblCurrentOrientationCorrection.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));
	lblCurrentOrientationCorrection.setText("Orientation Correction (" + DEGREE_STRING + "):");

	this.orientationCorrectionComposite = new Tuple3dComposite(this, SWT.NONE, "0.00");
	GridData gd_orientation = new GridData(SWT.FILL, SWT.CENTER, true, false, 2, 1);
	gd_orientation.widthHint = 300;
	gd_orientation.minimumWidth = 300;
	this.orientationCorrectionComposite.setLayoutData(gd_orientation);
	this.orientationCorrectionComposite.setEnableEditing(false);
	this.orientationCorrectionComposite.setTuple3d(this.orientationCorrection);

	enableControls(false);

	// Dispose
	addDisposeListener(new DisposeListener() {
	@Override
	public void widgetDisposed(DisposeEvent e) {
	if (VehiclePoseCorrectorComposite.this.m_bindingContext != null)
	VehiclePoseCorrectorComposite.this.m_bindingContext.dispose();
	if (VehiclePoseCorrectorComposite.this.vehiclePoseCorrector != null)
	VehiclePoseCorrectorComposite.this.vehiclePoseCorrector.eAdapters()
	.remove(getOrientationCorrectionAdapter());
	}
	});
	}

	public VehiclePoseCorrector getVehiclePoseCorrector() {
	return this.vehiclePoseCorrector;
	}

	public void setVehiclePoseCorrector(VehiclePoseCorrector vehiclePoseCorrector) {
	if (vehiclePoseCorrector != null)
	vehiclePoseCorrector.eAdapters().remove(getOrientationCorrectionAdapter());
	if (this.m_bindingContext != null)
	this.m_bindingContext.dispose();

	this.vehiclePoseCorrector = vehiclePoseCorrector;

	// Enables / disabled the controls.
	enableControls(vehiclePoseCorrector != null);

	if (vehiclePoseCorrector != null) {
	this.m_bindingContext = customInitDataBindings();
	vehiclePoseCorrector.eAdapters().add(getOrientationCorrectionAdapter());
	}
	}

	public void enableControls(boolean enabled) {
	if (this.btnEnable != null && !this.btnEnable.isDisposed())
	this.btnEnable.setEnabled(enabled);
	if (this.btnReinitialize != null && !this.btnReinitialize.isDisposed())
	this.btnReinitialize.setEnabled(enabled);
	if (this.txtZCorrection != null && !this.txtZCorrection.isDisposed())
	this.txtZCorrection.setEnabled(enabled);
	if (this.orientationCorrectionComposite != null && !this.orientationCorrectionComposite.isDisposed())
	this.orientationCorrectionComposite.setEnabled(enabled);

	if (this.comboZCorrectionMode != null && this.comboZCorrectionMode.getCombo() != null
	&& !this.comboZCorrectionMode.getCombo().isDisposed()) {
	this.comboZCorrectionMode.getControl().setEnabled(enabled);
	this.comboZCorrectionMode.getCombo().setEnabled(enabled);
	}

	if (this.comboOrientationCorrectionMode != null && this.comboOrientationCorrectionMode.getCombo() != null
	&& !this.comboOrientationCorrectionMode.getCombo().isDisposed()) {
	this.comboOrientationCorrectionMode.getControl().setEnabled(enabled);
	this.comboOrientationCorrectionMode.getCombo().setEnabled(enabled);
	}
	}

	@SuppressWarnings("unchecked")
	protected DataBindingContext customInitDataBindings() {
	DataBindingContext bindingContext = new DataBindingContext();

	/* Enabled. */
	IObservableValue<Double> observeEnabled = EMFEditProperties
	.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
	FeaturePath.fromList(ApogyCorePackage.Literals.ABSTRACT_APOGY_SYSTEM_POSE_CORRECTOR__ENABLED))
	.observe(this.vehiclePoseCorrector);
	IObservableValue<String> observeEnabledButtton = WidgetProperties.selection().observe(this.btnEnable);

	bindingContext.bindValue(observeEnabledButtton, observeEnabled, new UpdateValueStrategy(),
	new UpdateValueStrategy());

	/* Z Correction Value. */
	IObservableValue<Double> observeZCorrection = EMFEditProperties
	.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
	FeaturePath.fromList(ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ZCORRECTION))
	.observe(this.vehiclePoseCorrector);
	IObservableValue<String> observeZCorrectionTxt = WidgetProperties.text(SWT.Modify).observe(this.txtZCorrection);

	bindingContext.bindValue(observeZCorrectionTxt, observeZCorrection,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
	new UpdateValueStrategy().setConverter(new Converter(Double.class, String.class) {
	@Override
	public Object convert(Object fromObject) {
	return VehiclePoseCorrectorComposite.this.zCorrectionFormat.format(fromObject);
	}

	}));

	/* Z Correction enablement. */
	IObservableValue<String> observeZCorrectionEnable = WidgetProperties.enabled().observe(this.txtZCorrection);
	bindingContext.bindValue(observeZCorrectionEnable, observeEnabled, new UpdateValueStrategy(),
	new UpdateValueStrategy());

	/* Orientation correction enablement */
	IObservableValue<String> observeOrientationCorrectionEnable = WidgetProperties.enabled()
	.observe(this.orientationCorrectionComposite);
	bindingContext.bindValue(observeOrientationCorrectionEnable, observeEnabled, new UpdateValueStrategy(),
	new UpdateValueStrategy());

	/* Z Correction Mode. */
	IObservableValue<Double> observeZCorrectionMode = EMFEditProperties
	.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
	FeaturePath
	.fromList(ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ZCORRECTION_MODE))
	.observe(this.vehiclePoseCorrector);

	IObservableValue<?> observeZCorrectionModeCombViewer = ViewerProperties.singleSelection()
	.observe(this.comboZCorrectionMode);
	bindingContext.bindValue(observeZCorrectionModeCombViewer, observeZCorrectionMode, new UpdateValueStrategy(),
	new UpdateValueStrategy());

	/* Orientation Correction Mode. */
	IObservableValue<Double> observeOrientationCorrectionMode = EMFEditProperties
	.value(ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain(),
	FeaturePath.fromList(
	ApogyAddonsVehiclePackage.Literals.VEHICLE_POSE_CORRECTOR__ORIENTATION_CORRECTION_MODE))
	.observe(this.vehiclePoseCorrector);

	IObservableValue<?> observeOrientationCorrectionModeComboViewer = ViewerProperties.singleSelection()
	.observe(this.comboOrientationCorrectionMode);
	bindingContext.bindValue(observeOrientationCorrectionModeComboViewer, observeOrientationCorrectionMode,
	new UpdateValueStrategy(), new UpdateValueStrategy());

	return bindingContext;
	}

	protected Adapter getOrientationCorrectionAdapter() {
	if (this.orientationCorrectionAdapter == null) {
	this.orientationCorrectionAdapter = new AdapterImpl() {
	@Override
	public void notifyChanged(Notification msg) {
	if (msg.getNotifier() instanceof VehiclePoseCorrector) {
	int featureID = msg.getFeatureID(VehiclePoseCorrector.class);
	if (featureID == ApogyAddonsVehiclePackage.VEHICLE_POSE_CORRECTOR__ORIENTATION_CORRECTION) {
	if (msg.getNewValue() instanceof Matrix3x3) {
	Matrix3x3 rot = (Matrix3x3) msg.getNewValue();
	Vector3d r = GeometricUtils.extractRotationFromXYZRotMatrix(rot.asMatrix3d());
	VehiclePoseCorrectorComposite.this.orientationCorrection.setX(Math.toDegrees(r.x));
	VehiclePoseCorrectorComposite.this.orientationCorrection.setY(Math.toDegrees(r.y));
	VehiclePoseCorrectorComposite.this.orientationCorrection.setZ(Math.toDegrees(r.z));
	}
	}
	}
	}
	};
	}
	return this.orientationCorrectionAdapter;
	}

	}