laserscanner2delement.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks
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 ORCAGUI3D_LASERSCANNER2D_ELEMENT_H
00012 #define ORCAGUI3D_LASERSCANNER2D_ELEMENT_H
00013 
00014 #include <orcaqgui3d/icestormelement3d.h>
00015 #include <orcaqgui3dfactory/laserscanner2dpainter.h>
00016 
00017 namespace orcaqgui3d {
00018 
00024 class LaserScanner2dElement
00025     : public IceStormElement3d<LaserScanner2dPainter,
00026                                orca::RangeScanner2dDataPtr,
00027                                orca::LaserScanner2dPrx,
00028                                orca::RangeScanner2dConsumer,
00029                                orca::RangeScanner2dConsumerPrx>
00030 {           
00031 public:
00032     LaserScanner2dElement( const hydroqguielementutil::GuiElementInfo &guiElementInfo,
00033                            const orcaice::Context                     &context,
00034                            int                                         timeoutMs    = 5000,
00035                            QColor                                      outlineColor = QColor( 102,102,153, 255 ) )
00036         : IceStormElement3d<LaserScanner2dPainter,
00037                                orca::RangeScanner2dDataPtr,
00038                                orca::LaserScanner2dPrx,
00039                                orca::RangeScanner2dConsumer,
00040                                orca::RangeScanner2dConsumerPrx>( guiElementInfo, context, painter_, timeoutMs ),
00041           painter_( outlineColor )
00042         {};
00043 
00044     virtual bool isInGlobalCS() { return false; }
00045     virtual void iceStormConnectedEvent() { getLaserInfo(); }
00046     virtual QStringList contextMenu();
00047     virtual void execute( int action );
00048     virtual void setColor( QColor color ) { painter_.setColor(color); }
00049     virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); };
00050 
00051     virtual osg::Node *osgNode() const { return painter_.osgNode(); }
00052 
00053 private:
00054     void getLaserInfo();
00055     LaserScanner2dPainter painter_;
00056     
00057 };
00058 
00059 }
00060 
00061 #endif