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, Ben Upcroft
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_LOCALISE3D_PAINTER_H
00011 #define ORCAGUI_LOCALISE3D_PAINTER_H
00012 
00013 #include <QColor>
00014 #include <hydroqguielementutil/definitions2d.h>
00015 #include <orca/localise3d.h>
00016 #include <hydroqguielementutil/paintutils.h>
00017 #include <orcaqgui2dfactory/localise2dpainter.h> // for PlatformType
00018 
00019 // forward declarations
00020 class QPainter;
00021 
00022 namespace orcaqgui2d
00023 {
00024 
00025 class Localise3dPainter
00026 {
00027   public:
00028     // The default color is the color when the robot is not selected.
00029     Localise3dPainter( bool beginDisplayHistory );
00030 
00031     void setData( const orca::Localise3dData& data );
00032     void setPlatformType( PlatformType &type );
00033     
00034     void setTypeAndGeometry( PlatformType type, double length, double width ) { platformType_ = type; length_ = length; width_ = width;};
00035     void setTypeAndGeometry( PlatformType type, double radius ) { platformType_ = type; radius_ = radius; };
00036     void setOrigin( double x, double y, double o ) { originX_ = x; originY_ = y; originRot_ = o; };
00037 
00038     void paint( QPainter *p, int z );
00039     bool paintThisLayer(int z) const {return z==hydroqguielementutil::Z_POSE || z==hydroqguielementutil::Z_POSE-2;}
00040     void setUseTransparency( bool useTransparency ) { useTransparency_= useTransparency; };
00041     void clear();
00042     void setColor( QColor color );
00043     void setFocus( bool inFocus );
00044 
00045     void toggleDisplayHistory()  { isDisplayHistory_ = !isDisplayHistory_; }
00046     void toggleMultiHypothesis() { isDisplayMultiHypothesis_ = !isDisplayMultiHypothesis_; }
00047 
00048   private:
00049       
00050     double length_;
00051     double width_;
00052     double radius_;
00053     PlatformType platformType_;
00054     
00055     double originX_;
00056     double originY_;
00057     double originRot_;
00058 
00059     void paintHypothesis( QPainter* p, const orca::Pose3dHypothesis &hypothesis );
00060 
00061     orca::Localise3dData data_;
00062     bool isDataAvailable_;
00063 
00064     QColor basicColor_;
00065     QColor currentColor_;
00066 
00067     bool useTransparency_;
00068     bool isDisplayHistory_;
00069     hydroqguielementutil::PoseHistory history_;
00070 
00071     bool isDisplayMultiHypothesis_;
00072 };
00073 
00074 }
00075 
00076 #endif
localise3dpainter.h
