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 QORC_FEATUREMAP2D_PAINTER_H
00012 #define QORC_FEATUREMAP2D_PAINTER_H
00013 
00014 
00015 #include <qcolor.h>
00016 #include <orca/featuremap2d.h>
00017 #include <hydroqguielementutil/definitions2d.h>
00018 #include <hydroqgui/hydroqgui.h>
00019 
00020 // forward declarations
00021 class QPainter;
00022 
00023 namespace orcaqgui2d {
00024     
00025     
00026 class FeatureMap2dPainter
00027 {
00028   public:
00029     FeatureMap2dPainter();
00030     ~FeatureMap2dPainter();
00031 
00032     void setData( const orca::FeatureMap2dData &featureData );
00033     void paint( QPainter *p, int z );
00034     bool paintThisLayer(int z) const {return z==hydroqguielementutil::Z_SLAM_MAP;}
00035     void setUseTransparency( bool useTransparency ) { useTransparency_= useTransparency; };
00036     
00037     void clear();
00038     
00039     void toggleFeatureNumbers() { displayFeatureNumbers_ = !displayFeatureNumbers_; }
00040     void toggleUncertainty() { displayUncertainty_ = !displayUncertainty_; }
00041     
00042     int saveMap( const QString fileName, hydroqguielementutil::IHumanManager *humanManager ) const;
00043 
00044   private:
00045 
00046     void 
00047     paintPointFeature( QPainter *painter, 
00048                        int featureType,
00049                        int featureNum,
00050                        double probExists,
00051                        double centreX,
00052                        double centreY,
00053                        double covXX,
00054                        double covXY,
00055                        double covYY );
00056 
00057     void paintPointFeature( QPainter *painter,
00058                             const orca::CartesianPointFeature2d &f,
00059                             int featureNum );
00060     void  paintPoseFeature( QPainter *painter, 
00061                             const orca::CartesianPoseFeature2d &f,
00062                             int featureNum );
00063     void paintLineFeature(  QPainter *painter,
00064                             const orca::CartesianLineFeature2d  &f,
00065                             int featureNum );
00066 
00067     orca::FeatureMap2dData data_;
00068     bool useTransparency_;
00069     bool displayFeatureNumbers_;
00070     bool displayUncertainty_;
00071 };
00072 
00073 }
00074 
00075 #endif
featuremap2dpainter.h
