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 #ifndef ORCAGUI_LOCALISE2D_PAINTER_H
00011 #define ORCAGUI_LOCALISE2D_PAINTER_H
00012 
00013 #include <QColor>
00014 #include <hydroqguielementutil/definitions2d.h>
00015 #include <hydroqguielementutil/paintutils.h>
00016 
00017 // forward declarations
00018 class QPainter;
00019 
00020 namespace orcaqgui2d
00021 {
00022     
00023 enum PlatformType
00024 {
00025     PlatformTypeCubic,
00026     PlatformTypeCylindrical
00027 };
00028 
00029 class Localise2dPainter
00030 {
00031   public:
00032     // The default color is the color when the robot is not selected.
00033     Localise2dPainter( bool beginDisplayHistory );
00034 
00035     void setData( const orca::Localise2dData& data );
00036     void setPlatformType( PlatformType &type );
00037     
00038     void setTypeAndGeometry( PlatformType type, double length, double width ) { platformType_ = type; length_ = length; width_ = width;};
00039     void setTypeAndGeometry( PlatformType type, double radius ) { platformType_ = type; radius_ = radius; };
00040     void setOrigin( double x, double y, double o ) { originX_ = x; originY_ = y; originRot_ = o; };
00041 
00042     void paint( QPainter *p, int z );
00043     bool paintThisLayer(int z) const {return z==hydroqguielementutil::Z_POSE || z==hydroqguielementutil::Z_POSE-2;}
00044     void setUseTransparency( bool useTransparency ) { useTransparency_= useTransparency; };
00045     void clear();
00046     void setColor( QColor color );
00047     void setFocus( bool inFocus );
00048 
00049     void toggleDisplayHistory()  { isDisplayHistory_ = !isDisplayHistory_; }
00050     void toggleMultiHypothesis() { isDisplayMultiHypothesis_ = !isDisplayMultiHypothesis_; }
00051 
00052   private:
00053 
00054     double length_;
00055     double width_;
00056     double radius_;
00057     
00058     PlatformType platformType_;
00059     
00060     double originX_;
00061     double originY_;
00062     double originRot_;
00063       
00064     void paintHypothesis( QPainter* p, const orca::Pose2dHypothesis &hypothesis );
00065 
00066     orca::Localise2dData data_;
00067     bool isDataAvailable_;
00068 
00069     QColor basicColor_;
00070     QColor currentColor_;
00071 
00072     bool useTransparency_;
00073     bool isDisplayHistory_;
00074     hydroqguielementutil::PoseHistory history_;
00075 
00076     bool isDisplayMultiHypothesis_;
00077 };
00078 
00079 }
00080 
00081 #endif
localise2dpainter.h
