Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
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 ORCAGUI3D_LASERSCANNER2D_ELEMENT_H
00012 #define ORCAGUI3D_LASERSCANNER2D_ELEMENT_H
00013 
00014 #include <orcaqgui3d/ptricestormelement3d.h>
00015 #include <orcaqgui3dfactory/laserscanner2dpainter.h>
00016 
00017 namespace orcaqgui3d {
00018 
00024 class LaserScanner2dElement
00025     : public PtrIceStormElement3d<LaserScanner2dPainter,
00026                                orca::RangeScanner2dData,
00027                                orca::RangeScanner2dDataPtr,
00028                                orca::LaserScanner2dPrx,
00029                                orca::RangeScanner2dConsumer,
00030                                orca::RangeScanner2dConsumerPrx>
00031 {           
00032 public:
00033     LaserScanner2dElement( const orcaice::Context  &context,
00034                     const std::string       &proxyString,
00035                     int                      timeoutMs=5000,
00036                     QColor                   outlineColor=QColor( 102,102,153, 255 ),
00037                     float                    outlineThickness=-1,
00038                     float                    brightReturnWidth=0.2 )
00039         : PtrIceStormElement3d<LaserScanner2dPainter,
00040                             orca::RangeScanner2dData,
00041                             orca::RangeScanner2dDataPtr,
00042                             orca::LaserScanner2dPrx,
00043                             orca::RangeScanner2dConsumer,
00044                             orca::RangeScanner2dConsumerPrx>(context, proxyString, painter_, timeoutMs ),
00045           painter_( outlineColor, outlineThickness, brightReturnWidth )
00046         {};
00047 
00048     virtual bool isInGlobalCS() { return false; }
00049     virtual void actionOnConnection() { getLaserInfo(); }
00050     virtual QStringList contextMenu();
00051     virtual void execute( int action ) { painter_.execute( action ); };
00052     virtual void setColor( QColor color ) { painter_.setColor(color); }
00053     virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); };
00054 
00055 private:
00056     void getLaserInfo();
00057     LaserScanner2dPainter painter_;
00058     
00059 };
00060 
00061 }
00062 
00063 #endif
laserscanner2delement.h
