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_PIXMAP_PAINTER_H
00012 #define ORCAGUI_PIXMAP_PAINTER_H
00013 
00014 #include <vector>
00015 #include <QPixmap>
00016 #include <QMatrix>
00017 
00018 #include <hydroqgui/hydroqgui.h>
00019 #include <hydroqguielementutil/hydroqguielementutil.h>
00020 
00021 namespace orcaqgui2d
00022 {
00023     
00024 // Data structure containing drawing information
00025 struct PixmapData
00026 {
00027     // Each pixel is a cell of size cellSize in [m]
00028     QSizeF cellSize;
00029     
00030     // Pixmap size in number of cells
00031     QSize mapSizePix;
00032     
00033     // Offset wrt the global coordinate system
00034     QPointF offset;
00035     
00036     // Three color channels as a flat representation of the pixels:
00037     // vectorIndex = y*mapSizePix.width()+x
00038     // WARNING: need to make sure that vector is of size ( mapSizePix.width()*mapSizePix.height() )
00039     std::vector<unsigned char> rgbR;
00040     std::vector<unsigned char> rgbG;
00041     std::vector<unsigned char> rgbB;
00042 };
00043 
00048 class PixmapPainter
00049 {
00050     
00051   public:
00052     PixmapPainter();
00053     PixmapPainter( PixmapData &pixmapData );
00054     ~PixmapPainter();
00055     
00056     void setData( PixmapData &pixmapData );
00057 
00058     void paint( QPainter *p );
00059 
00060     void toggleDisplayMap();
00061     int saveMap( const QString                       &fileName,
00062                  const QString                       &fileExtension,
00063                  hydroqguielementutil::IHumanManager *humanManager );
00064     
00065   private:
00066     
00067     bool updateWorldMatrix( const QMatrix & );
00068     bool updateWindowSize( const QSize & );
00069     void rescale();
00070     
00071     // Unscaled map storage
00072     QPixmap qMap_;
00073        
00074     // qMap_ scaled and cropped to current window size
00075     QPixmap mapWin_;
00076     
00077     // Current widget size in pixels (WorldView)
00078     QSize winSize_;
00079     
00080     // Current meters-to-window transformation matrix
00081     QMatrix m2win_;
00082     
00083     // Current map-to-window transformation matrix
00084     QMatrix map2win_;
00085     
00086     PixmapData data_;
00087 
00088     bool isDisplayMap_;
00089 
00090     bool haveMap_;
00091 
00092     // record the offset so that we can check if it's changed and then update
00093     // if necessary  
00094     QPointF previousOffset_; 
00095 
00096 };
00097 
00098 } // namespace
00099   
00100 #endif
pixmappainter.h
