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, Alexei Makarenko, Tobias Kaupp
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_PAINTER_H
00013 #define ORCAGUI3D_POSITION3D_PAINTER_H
00014 
00015 #include <QColor>
00016 #include <QGLWidget>
00017 #include <orca/position3d.h>
00018 #include <orcaqgui3dfactory/objectmodel.h>
00019 
00020 namespace orcaqgui3d
00021 {
00022 
00026 class Position3dPainter
00027 {
00028   
00029   public:
00030     Position3dPainter( const char *objectModelFilename );
00031     ~Position3dPainter();
00032 
00033     // void setGeometry( orca::RangeScanner2dGeometryPtr &geom );
00034     void setData( const orca::Position3dData& obj );
00035     
00036     void paint( QGLWidget *p );
00037 
00038     void clear();
00039     
00040     // void execute( int action );
00041     
00042     //void setColor( QColor color );
00043     //void setFocus( bool inFocus );
00044 
00045     const orca::Frame3d pose() const { return data_.pose; }
00046 
00047   private:
00048 
00049     orca::Position3dData data_;
00050 
00051     // This thing loads a 3d model from a file
00052     ObjectModel *objectModel_;
00053 };
00054 
00055 } // namespace
00056 
00057 #endif
00058 #endif
00059
position3dpainter.h
