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localise3delement.h00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2009 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_LOCALISE3D_GUI_ELEMENT_H 00012 #define ORCAGUI_LOCALISE3D_GUI_ELEMENT_H 00013 00014 #include <orcaice/context.h> 00015 00016 #include <orcaqgui3d/iknowsplatformposition.h> 00017 #include <orcaqgui3d/icestormelement3d.h> 00018 #include <orcaqgui3dfactory/localisepainter.h> 00019 00020 namespace orcaqgui3d 00021 { 00022 00023 class Localise3dElement 00024 : public orcaqgui3d::IceStormElement3d<LocalisePainter, 00025 orca::Localise3dData, 00026 orca::Localise3dPrx, 00027 orca::Localise3dConsumer, 00028 orca::Localise3dConsumerPrx>, 00029 public orcaqgui3d::IKnowsPlatformPosition 00030 { 00031 public: 00032 Localise3dElement( const hydroqguielementutil::GuiElementInfo &guiElementInfo, 00033 const orcaice::Context &context, 00034 bool beginDisplayHistory = false, 00035 int timeoutMs = 30000 ) 00036 : orcaqgui3d::IceStormElement3d<LocalisePainter, 00037 orca::Localise3dData, 00038 orca::Localise3dPrx, 00039 orca::Localise3dConsumer, 00040 orca::Localise3dConsumerPrx>( guiElementInfo, context, painter_, timeoutMs ), 00041 painter_( beginDisplayHistory ), 00042 x_(0), 00043 y_(0), 00044 yaw_(0), 00045 haveGeometry_(false) 00046 {} 00047 00048 virtual bool isInGlobalCS() { return true; } 00049 virtual void iceStormConnectedEvent(); 00050 virtual QStringList contextMenu(); 00051 virtual void execute( int action ); 00052 00053 virtual void setColor( QColor color ) { painter_.setColor(color); } 00054 virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); }; 00055 virtual void setUseTransparency( bool useTransparency ) { painter_.setUseTransparency( useTransparency ); }; 00056 00057 // Need a special update function to set (x,y,z,roll,pitch,yaw) 00058 // The Localise3dElement needs this because it's special kind of GuiElement: 00059 // A platform has a position in the world and various other things are 00060 // drawn with respect to that position. 00061 virtual void update(); 00062 00063 // Access to ML estimate. 00064 virtual float x() const { return x_; } 00065 virtual float y() const { return y_; } 00066 virtual float z() const { return z_; } 00067 virtual float roll() const { return roll_; } 00068 virtual float pitch() const { return pitch_; } 00069 virtual float yaw() const { return yaw_; } 00070 virtual int platformKnowledgeReliability() const { return 8; } 00071 00072 osg::Node *osgNode() const { return painter_.osgNode(); } 00073 00074 private: 00075 00076 LocalisePainter painter_; 00077 00078 double x_; 00079 double y_; 00080 double z_; 00081 double roll_; 00082 double pitch_; 00083 double yaw_; 00084 00085 void tryToGetGeometry(); 00086 bool haveGeometry_; 00087 }; 00088 00089 } 00090 00091 #endif |
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