odometry2dpainter.h

00001 /*
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_ODOMETRY2D_PAINTER_H
00012 #define ORCAGUI_ODOMETRY2D_PAINTER_H
00013 
00014 #include <orca/odometry2d.h>
00015 #include <hydroqguielementutil/definitions2d.h>
00016 
00017 // forward declarations
00018 class QPainter;
00019 
00020 namespace orcaqgui2d {
00021 
00026 class Odometry2dPainter
00027 {
00028   
00029   public:
00030     Odometry2dPainter();
00031     ~Odometry2dPainter();
00032 
00033     void setData( const orca::Odometry2dData& data );
00034     void setColor( QColor color );
00035     void paint( QPainter *p, int z1 );
00036     bool paintThisLayer(int z) const { return z==hydroqguielementutil::Z_POSE; }
00037     void setUseTransparency( bool useTransparency ) { useTransparency_= useTransparency; };
00038     void clear() {};
00039     
00040   private:
00041 
00042     double speedX_;       // m/s
00043     double speedY_;       // m/s
00044     double turnrate_;     // rad/s
00045     
00046     bool useTransparency_;  // currently not used here
00047     QColor currentColour_;
00048 };
00049 
00050 }
00051 
00052 #endif