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 ORCAGUI_LOCALISE2D_GUI_ELEMENT_H
00012 #define ORCAGUI_LOCALISE2D_GUI_ELEMENT_H
00013 
00014 #include <QPointF>
00015 
00016 #include <orcaobj/orcaobj.h>
00017 #include <orcaice/orcaice.h>
00018 
00019 #include <hydroqgui/hydroqgui.h>
00020 #include <hydroqguielementutil/iknowsplatformposition2d.h>
00021 #include <orcaqguielementutil/icestormelement.h>
00022 #include <orcaqgui2dfactory/connectutils.h>
00023 #include <orcaqgui2dfactory/localise2dpainter.h>
00024 
00025 namespace orcaqgui2d
00026 {
00027 
00028 class Localise2dElement
00029     : public orcaqguielementutil::IceStormElement<Localise2dPainter,
00030                              orca::Localise2dData,
00031                              orca::Localise2dPrx,
00032                              orca::Localise2dConsumer,
00033                              orca::Localise2dConsumerPrx>,
00034       public hydroqguielementutil::IKnowsPlatformPosition2d
00035 {
00036 public:
00037     Localise2dElement( const orcaice::Context  &context,
00038                        const std::string       &proxyString,
00039                        hydroqguielementutil::IHumanManager *humanManager,
00040                        bool                     beginDisplayHistory=false,
00041                        int                      timeoutMs=30000 )
00042         : orcaqguielementutil::IceStormElement<Localise2dPainter,
00043                             orca::Localise2dData,
00044                             orca::Localise2dPrx,
00045                             orca::Localise2dConsumer,
00046                             orca::Localise2dConsumerPrx>(context, proxyString, painter_, timeoutMs ),
00047           humanManager_(humanManager),
00048           painter_( beginDisplayHistory ),
00049           x_(0),
00050           y_(0),
00051           theta_(0),
00052           haveGeometry_(false)
00053         {
00054         };
00055 
00056     virtual bool isInGlobalCS() { return true; }
00057     virtual void actionOnConnection();
00058     virtual QStringList contextMenu();
00059     virtual void execute( int action );
00060     
00061     virtual void setColor( QColor color ) { painter_.setColor(color); }
00062     virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); };
00063     virtual void setUseTransparency( bool useTransparency ) { painter_.setUseTransparency( useTransparency ); };
00064 
00065     // Need a special update function to set (x,y,theta)
00066     // The Localise2dElement needs this because it's special kind of GuiElement:
00067     //   A platform has a position in the world and various other things are
00068     //   drawn with respect to that position.
00069     virtual void update();
00070 
00071     // Access to ML estimate.
00072     virtual double x() const { return x_; }
00073     virtual double y() const { return y_; }
00074     virtual double theta() const { return theta_; }
00075     virtual int platformKnowledgeReliability() const { return 7; }
00076     virtual QPointF pos() const { return QPointF(x_,y_); };
00077 
00078 private:
00079     hydroqguielementutil::IHumanManager *humanManager_;
00080     Localise2dPainter painter_;
00081 
00082     double x_;
00083     double y_;
00084     double theta_;
00085     
00086     void tryToGetGeometry();
00087     bool haveGeometry_;
00088 };
00089 
00090 }
00091 
00092 #endif
localise2delement.h
