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_ZOOM_WIDGET_H
00012 #define HYDROQGUI_ZOOM_WIDGET_H
00013 
00014 #include <QWidget>
00015 #include <QResizeEvent>
00016 #include <QMatrix>
00017 
00018 namespace hydroqgui
00019 {
00020 
00025 class ZoomWidget : public QWidget
00026 {
00027     Q_OBJECT
00028 public:
00029     ZoomWidget( QWidget* parent=0 );
00030 
00031     QMatrix matrix() const { return wm_; };
00032 
00033 signals:
00034     // Use this signal to broadcast a change in the world matrix.
00035     void matrixChanged( const QMatrix & );
00036     // Use this signal to broadcast a change in the size of the widget.
00037     void windowSizeChanged( const QSize & );
00038 
00039 public slots:
00040     // view manipulation
00041     void zoomIn( const double & z=4.0/3.0 ) {
00042         zoomView(z);
00043     };
00044     void zoomOut( const double & z=3.0/4.0 ) {
00045         zoomView(z);
00046     };
00047     void zoomWorldSize( const QSizeF & worldSize );
00048     void zoomWorldSize( const QSizeF & worldSize, const QPointF & pcenter );
00049     
00050     void zoomPixelSize( const QSizeF & pixSize ) {
00051         setZoom( 1.0/pixSize.width() );
00052     };
00053 
00054     void moveUp() {
00055         moveView( QPointF(0.0,25.0) );
00056     };
00057     void moveDown() {
00058         moveView( QPointF(0.0,-25.0) );
00059     };
00060     void moveLeft() {
00061         moveView( QPointF(25.0,0.0) );
00062     };
00063     void moveRight() {
00064         moveView( QPointF(-25.0,0.0) );
00065     };
00066     
00067     // Responds to an outside request to broadcast the current world matrix.
00068     void transmitMatrix();
00069 
00070 protected:
00071 
00072     // world-to-window transformation matrix
00073     QMatrix wm_;
00074 
00075     // view manipulation utilities
00076     void setZoom( const double & );
00077     void zoomView( const double & );
00078     
00079     // Translates the widget view by d(x,y), where d = p2 - p1
00080     //   p1 - original coord. of widget center
00081     //   p2 - final coord. of widget center
00082     void moveView( const QPointF & );
00083     
00084     // given a point in WORLD CS, position it in the center of the window
00085     void centerView( const QPointF & );
00086 
00087     void resizeEvent( QResizeEvent* );
00088 
00089 };
00090 
00091 } // namespace
00092 
00093 #endif
zoomwidget.h
