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_POLARFEATURE2D_PAINTER_H
00012 #define ORCAGUI_POLARFEATURE2D_PAINTER_H
00013 
00014 #include <orca/polarfeature2d.h>
00015 #include <hydroqguielementutil/definitions2d.h>
00016 #include <hydroqgui/hydroqgui.h>
00017 
00018 class QPainter;
00019 
00020 
00021 namespace orcaqgui2d {
00022 
00027 class PolarFeature2dPainter
00028 {
00029   
00030   public:
00031     PolarFeature2dPainter();
00032 
00033     void setOffset( orca::Frame3d &offset );
00034     void setData( const orca::PolarFeature2dData &featureData );
00035     void paint( QPainter *p, int z );
00036     bool paintThisLayer( int z ) const { return z==hydroqguielementutil::Z_LASER_FEATURES; }
00037 
00038     void clear();
00039     
00040   private:
00041 
00042     double offsetX_;
00043     double offsetY_;
00044     double offsetYaw_;
00045         double offsetPitch_;
00046     bool   isOffsetSet_;
00047 
00048     bool isUpsideDown_;
00049     bool isNotHorizontal_;
00050 
00051     orca::PolarFeature2dData featureData_;
00052 };
00053 
00054 }
00055 
00056 #endif
polarfeature2dpainter.h
