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_PAINTER_H
00012 #define ORCAGUI3D_LASERSCANNER2D_PAINTER_H
00013 
00014 #include <QColor>
00015 #include <QGLWidget>
00016 #include <orca/laserscanner2d.h>
00017 
00018 namespace orcaqgui3d
00019 {
00020 
00024 class LaserScanner2dPainter
00025 {
00026   
00027   public:
00028     // -1 means 'default'
00029     LaserScanner2dPainter( QColor outlineColor=QColor( 102,102,153, 255 ),
00030                     float  outlineThickness=-1,
00031                     float  brightReturnWidth=0.2 );
00032     ~LaserScanner2dPainter();
00033 
00034     void setDescription( const orca::RangeScanner2dDescription& descr );
00035     void setData( const orca::RangeScanner2dDataPtr &scan );
00036     
00037     void paint( QGLWidget *p );
00038 
00039     void clear();
00040     
00041     void execute( int action );
00042     
00043     void setColor( QColor color );
00044     void setFocus( bool inFocus );
00045 
00046   private:
00047 
00048     orca::LaserScanner2dDataPtr data_;
00049     orca::RangeScanner2dDescription description_;
00050 
00051     bool isDisplayScan_;
00052     // bool isDisplayWalls_;
00053     bool isDisplayReflectors_;
00054     QColor outlineColor_;
00055     QColor basisColor_;
00056     float  outlineThickness_;
00057     float  brightReturnWidth_;
00058 };
00059 
00060 } // namespace
00061 
00062 #endif
orcaqgui3dfactory/laserscanner2dpainter.h
