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pathinput.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef ORCA_PATH_INPUT_H #define ORCA_PATH_INPUT_H #include <QMatrix> #include <QVector> #include <QMouseEvent> #include <QTableWidget> #include <QSpinBox> #include <orca/pathfollower2d.h> #include <orca/pathplanner2d.h> #include <orcaice/context.h> #include <hydroqgui/hydroqgui.h> namespace orcaqgui2d { class PathInput; class WpTable; // internal Gui representation for waypoint and path struct GuiWaypoint { QPointF position; // in m int heading; // in 1/16 deg from 0 to 360*16 float timeTarget; // number of seconds until arrival at waypoint float distanceTolerance; // distance tolerances in m int headingTolerance; // heading tolerances in 1/16 deg from 0 to 360*16 float maxSpeed; // max speed in m/s int maxTurnrate; // max turnrate in deg/s }; typedef QVector<GuiWaypoint> GuiPath; // conversion functions void guiPathToOrcaPath( const GuiPath &in, orca::Path2d &out, int numLoops = 1, float timeOffset = 0.0 ); void orcaPathToGuiPath( const orca::Path2d &in, GuiPath &out ); // all units are SI units class WaypointSettings { public: WaypointSettings(std::string a, float b, float c, int d, float e, int f): spacingProperty(a), spacingValue(b), distanceTolerance(c), headingTolerance(d), maxApproachSpeed(e), maxApproachTurnrate(f) {} std::string spacingProperty; float spacingValue; float distanceTolerance; int headingTolerance; float maxApproachSpeed; int maxApproachTurnrate; }; class WpWidget : public QWidget { Q_OBJECT public: WpWidget( PathInput *pathInput, GuiPath *guiPath, QVector<float> *waitingTimes ); ~WpWidget() {}; void refreshTable(); QString getBehaviour( int row ); int numberOfLoops() { return numLoopsSpin_->value(); }; private: PathInput *pathInput_; WpTable *wpTable_; bool pathFileSet_; QString pathFileName_; QSpinBox *numLoopsSpin_; private slots: void savePathAs(); void savePath(); void loadPath(); }; class WpTable : public QTableWidget { Q_OBJECT public: WpTable( QWidget *parent, PathInput *pathInput, GuiPath *guiPath, QVector<float> *waitingTimes ); ~WpTable() {}; void refreshTable(); void computeVelocities(); QString getBehaviour( int row ); private: PathInput *pathInput_; // data which is shared with pathinput GuiPath *guiPath_; QVector<float> *waitingTimes_; // this one is only local QVector<float> velocities_; // lock up the cellUpdate signal: it should only be emitted if the user changes cell entries // not if we programmatically change them (as in refreshTable) bool isLocked_; private slots: // called after user interaction void updateDataStorage(int row, int column); }; class PathInput : public QObject { Q_OBJECT public: PathInput( QObject *parent, WaypointSettings *wpSettings, hydroqguielementutil::IHumanManager &humanManager, QString lastSavedPathFile="" ); virtual ~PathInput(); virtual void paint( QPainter *painter ); virtual void setUseTransparency( bool useTransparency ) { useTransparency_=useTransparency; }; virtual void processPressEvent( QMouseEvent* e); virtual void processReleaseEvent( QMouseEvent* e ); virtual void processDoubleClickEvent( QMouseEvent* e); virtual void processMoveEvent( QMouseEvent* e); virtual void updateWpSettings( WaypointSettings* wpSettings ); virtual void savePath( const QString &fileName ); virtual void loadPath( const QString &fileName ); protected: WaypointSettings *wpSettings_; hydroqguielementutil::IHumanManager &humanManager_; QMatrix wmInv_; // win2mm matrix bool useTransparency_; void addWaypoint( QPointF ); void removeWaypoint( QPointF ); void changeWpParameters( QPointF ); void resizeData( int index ); // The path in Gui representation. Shared with wpWidget GuiPath guiPath_; // how long to wait at this waypoint, filled in by wpWidget QVector<float> waitingTimes_; QPointF mouseDownPnt_; QPointF mouseUpPnt_; QPointF mouseMovePnt_; QPointF doubleClick_; WpWidget *wpWidget_; int waypointInFocus_; QString lastSavedPathFile_; float secondsToCompleteLoop() const; public slots: void setWaypointFocus(int row, int column); void generateFullPath(); void loadPreviousPath(); signals: void sendPathClicked(); void cancelPathClicked(); private: void expandPath( int index, int numInsert, int headingTolerance); int expandPathStationary( int index ); int expandPathLeftRight( int index ); int expandPathRightLeft( int index ); int expandPathTurn360( int index ); }; class PathFollowerInput : public PathInput { public: PathFollowerInput( QObject *parent, WaypointSettings *wpSettings, hydroqguielementutil::IHumanManager &humanManager, QString lastSavedPathFile ) : PathInput( parent, wpSettings, humanManager, lastSavedPathFile ) {}; virtual ~PathFollowerInput() {}; bool getPath( orca::PathFollower2dData &pathData ) const; }; class PathPlannerInput : public PathInput { public: PathPlannerInput( QObject *parent, WaypointSettings *wpSettings, hydroqguielementutil::IHumanManager &humanManager ) :PathInput( parent, wpSettings, humanManager ) {}; virtual ~PathPlannerInput() {}; orca::PathPlanner2dTask getTask() const; }; WaypointSettings readWaypointSettings( const Ice::PropertiesPtr & props, const std::string & tag ); bool readActivateImmediately( const Ice::PropertiesPtr & props, const std::string & tag ); QString readDumpPath( const Ice::PropertiesPtr & props, const std::string & tag ); } // namespace #endif

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

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