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_PARTICLE2D_PAINTER_H
00012 #define ORCAGUI_PARTICLE2D_PAINTER_H
00013 
00014 #include <QVector>
00015 #include <QLine>
00016 #include <orca/particle2d.h>
00017 #include <hydroqguielementutil/definitions2d.h>
00018 
00019 // forward declarations
00020 class QPainter;
00021 
00022 namespace orcaqgui2d {
00023 
00028 class Particle2dPainter
00029 {
00030   
00031   public:
00032     Particle2dPainter( int particlePenThickness=30 );
00033     ~Particle2dPainter();
00034 
00035     void setData( const orca::Particle2dData& particleData );
00036     void setColor( QColor color );
00037     void paint( QPainter *p, int z1 );
00038     bool paintThisLayer(int z) const { return z==hydroqguielementutil::Z_POSE+2; }
00039     void setUseTransparency( bool useTransparency ) { useTransparency_= useTransparency; };
00040     void clear();
00041     
00042   private:
00043 
00044     QVector<QLineF> qParticles_;   // in mm
00045     std::vector<float> weights_;
00046     float              maxWeight_;
00047     int particlePenThickness_;
00048     
00049     bool useTransparency_;
00050     QColor activeColour_;
00051     QColor kaputColour_;
00052     QColor currentColour_;
00053 };
00054 
00055 }
00056 
00057 #endif
particle2dpainter.h
