Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010  
00011 #ifndef HYDROQGUI_PAINT_UTILS_H
00012 #define HYDROQGUI_PAINT_UTILS_H
00013 
00014 #include <QColor>
00015 #include <QPolygonF>
00016 #include <QPainter>
00017 
00018 //
00019 // Generally useful tools that are used by several 
00020 // painters.
00021 //
00022 // Authors: Alex Brooks, Tobias Kaupp
00023 //
00024 namespace hydroqguielementutil
00025 {
00026 
00030 class PoseHistory
00031 {
00032 public:
00033 
00034     PoseHistory( double lineThickness=2.0 );
00035 
00036     // Add a point (units: metres)
00037     void addPoint( const double x, const double y );
00038 
00039     void paint( QPainter *p, const QColor &c );
00040 
00041 private:
00042 
00043     QVector<QPolygonF> histories_;
00044     double lineThickness_;          // in pixel
00045     int totalPoints_;
00046 };
00047 
00049 
00057 class ScopedSaver {
00058 
00059 public:
00060     ScopedSaver( QPainter *p )
00061         : p_(p)
00062         { p_->save(); }
00063     ~ScopedSaver()
00064         { p_->restore(); }
00065 private:
00066     QPainter *p_;
00067 };
00068 
00069 
00071 void paintOrigin( QPainter       *p, 
00072                   const QColor   &colour,
00073                   float           radius,
00074                   float           lineThickness=0.2 );
00075 
00080 void paintCubicPlatformPose( QPainter *p, 
00081                              float     length, 
00082                              float     width, 
00083                              float     transparencyMultiplier=1.0, 
00084                              float     minLength=0.0 );
00085 
00087 void paintCylindricalPlatformPose( QPainter *p, 
00088                                    float     radius, 
00089                                    float     transparencyMultiplier=1.0, 
00090                                    float     minRadius=0.0 );
00091 
00093 void paintUncertaintyWedge( QPainter     *p, 
00094                             float         ptt, 
00095                             float         length );
00096 
00098 void paintCovarianceEllipse( QPainter     *p, 
00099                              float         pxx, 
00100                              float         pxy, 
00101                              float         pyy );
00102 
00105 QColor getTransparentVersion( const QColor &c, 
00106                               float         transparencyMultiplier=0.5 );
00107 
00109 QColor getDarkVersion( const QColor &color );
00110 
00112 void paintWaypoint( QPainter     *p, 
00113                     const QColor &fillColor,
00114                     const QColor &drawColor,
00115                     int           targetHeading, 
00116                     float         distanceTolerance, 
00117                     int           headingTolerance );
00118 
00119 void paintArrow( QPainter *p );
00120 
00121 }
00122 
00123 #endif
paintutils.h
