pointcloudelement.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 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_POINT_CLOUD_ELEMENT_H
00012 #define ORCAGUI3D_POINT_CLOUD_ELEMENT_H
00013 
00014 //#include <orcaqgui3d/ptricestormelement3d.h>
00015 #include <orcaqgui3d/icestormelement3d.h>
00016 #include <orcaqgui3dfactory/pointcloudpainter.h>
00017 
00018 namespace orcaqgui3d {
00019 
00025 class PointCloudElement
00026     : public IceStormElement3d<PointCloudPainter,
00027                                   orca::PointCloudData,
00028                                   orca::PointCloudPrx,
00029                                   orca::PointCloudConsumer,
00030                                   orca::PointCloudConsumerPrx>
00031 {           
00032 public:
00033     PointCloudElement( const orcaice::Context  &context,
00034                            const std::string       &proxyString,
00035                            int                      timeoutMs=5000,
00036                            QColor                   outlineColor=QColor( 102,102,153, 255 ) )
00037         : IceStormElement3d<PointCloudPainter,
00038                                orca::PointCloudData,
00039                                orca::PointCloudPrx,
00040                                orca::PointCloudConsumer,
00041                                orca::PointCloudConsumerPrx>(context, proxyString, painter_, timeoutMs ),
00042           painter_( outlineColor )
00043         {};
00044     virtual ~PointCloudElement(){};
00045 
00046     virtual bool isInGlobalCS() { return true; }
00047     virtual void actionOnConnection() { }
00048     virtual QStringList contextMenu();
00049     virtual void execute( int action );
00050     virtual void setColor( QColor color ) { painter_.setColor(color); }
00051     virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); };
00052 
00053     virtual osg::Node *osgNode() const { return painter_.osgNode(); }
00054 
00055 private:
00056     void getLaserInfo();
00057     PointCloudPainter painter_;
00058     
00059 };
00060 
00061 }
00062 
00063 #endif