Orca Robotics

00001 #if 0
00002 /*
00003  * Orca-Robotics Project: Components for robotics 
00004  *               http://orca-robotics.sf.net/
00005  * Copyright (c) 2004-2008 Alex Brooks
00006  *
00007  * This copy of Orca is licensed to you under the terms described in
00008  * the LICENSE file included in this distribution.
00009  *
00010  */
00011 
00012 #ifndef ORCAGUI3D_POSITION3D_ELEMENT_H
00013 #define ORCAGUI3D_POSITION3D_ELEMENT_H
00014 
00015 #include <orcaqgui3d/icestormelement3d.h>
00016 #include <orcaqgui3dfactory/position3dpainter.h>
00017 #include <orcaqgui3d/iknowsplatformposition.h>
00018 
00019 namespace orcaqgui3d {
00020 
00024 class Position3dElement
00025     : public IceStormElement3d<Position3dPainter,
00026                                orca::Position3dData,
00027                                orca::Position3dPrx,
00028                                orca::Position3dConsumer,
00029                                orca::Position3dConsumerPrx>,
00030     public IKnowsPlatformPosition
00031 {
00032 
00033 public: 
00034 
00035     Position3dElement( const orcaice::Context  &context,
00036                        const std::string       &proxyString,
00037                        int                      timeoutMs=5000 )
00038         : IceStormElement3d<Position3dPainter,
00039                             orca::Position3dData,
00040                             orca::Position3dPrx,
00041                             orca::Position3dConsumer,
00042                             orca::Position3dConsumerPrx>(context, proxyString, painter_, timeoutMs ),
00043           painter_("3dmodels/jeep.3ds")
00044         {}
00045 
00046     virtual bool isInGlobalCS() { return false; }
00047     // virtual QStringList contextMenu();
00048     // virtual void execute( int action ) { painter_.execute( action ); };
00049     // virtual GuiElementType type() { return orcaqgui::LaserType; };
00050     // virtual void setColor( QColor color ) { painter_.setColor(color); }
00051     // virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); };
00052     virtual void actionOnConnection() {}
00053 
00054     // Access to platform location estimate.
00055     virtual float x() const { return painter_.pose().p.x; }
00056     virtual float y() const { return painter_.pose().p.y; }
00057     virtual float z() const { return painter_.pose().p.z; }
00058     virtual float roll()  const { return painter_.pose().o.r; }
00059     virtual float pitch() const { return painter_.pose().o.p; }
00060     virtual float yaw()   const { return painter_.pose().o.y; }
00061 
00062     virtual int platformKnowledgeReliability() const { return 2; }
00063     // virtual QPointF pos() const { return QPointF(x_,y_); };
00064 
00065 private: 
00066 
00067     Position3dPainter painter_;
00068 
00069 };
00070 
00071 }
00072 
00073 #endif
00074 #endif
position3delement.h
