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 #ifndef ORCA_SKELETON_GRAPHICS_I
00011 #define ORCA_SKELETON_GRAPHICS_I
00012 
00013 
00014 // include defnition of Ice runtime
00015 #include <Ice/Ice.h>
00016 #include <IceStorm/IceStorm.h>
00017 
00018 // include provided interfaces
00019 #include <orca/qgraphics2d.h>
00020 
00021 #include <hydropathplan/hydropathplan.h>
00022 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00023 #include <orcaice/context.h>
00024 #include <vector>
00025 #include <qpainter.h>
00026 
00027 namespace pathplanner
00028 {
00029 
00030 class SkeletonGraphicsI : public orca::QGraphics2d
00031 {
00032 public:
00033 
00034     SkeletonGraphicsI( const orcaice::Context & context, const std::string &tag );
00035 
00036     // Remote calls:
00037 
00038     // Hand out data to people
00039     orca::QGraphics2dData getData(const Ice::Current&) const;
00040 
00041     virtual void subscribe(const ::orca::QGraphics2dConsumerPrx&,
00042                            const Ice::Current&);
00043 
00044     virtual void unsubscribe(const ::orca::QGraphics2dConsumerPrx&,
00045                              const Ice::Current&);
00046 
00047     // Local calls:
00048     // Leave either skell NULL and it won't be drawn.
00049     void localSetSkel( const hydroogmap::OgMap                     &ogMap,
00050                        const hydropathplan::Cell2DVector           *skel=NULL,
00051                        const hydropathplan::sparseskel::SparseSkel *sparseSkel=NULL );
00052 
00053 private:
00054 
00055     void drawSkel( const hydroogmap::OgMap           &ogMap,
00056                    const hydropathplan::Cell2DVector &skel,
00057                    QPainter                          &p );
00058     void drawSparseSkel( const hydroogmap::OgMap                     &ogMap,
00059                          const hydropathplan::sparseskel::SparseSkel &skel,
00060                          QPainter                                    &p );
00061     
00062     gbxsickacfr::gbxiceutilacfr::Store<orca::QGraphics2dData> dataStore_;
00063 
00064     orca::QGraphics2dConsumerPrx    consumerPrx_;
00065     IceStorm::TopicPrx              topicPrx_;
00066     orcaice::Context                context_;
00067 };
00068 
00069 }
00070 #endif
skeletongraphicsI.h
