polarfeature2dpainter.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_POLARFEATURE2D_PAINTER_H
00012 #define ORCAGUI_POLARFEATURE2D_PAINTER_H
00013 
00014 #include <orca/polarfeature2d.h>
00015 #include <hydroqguielementutil/definitions2d.h>
00016 
00017 class QPainter;
00018 
00019 
00020 namespace orcaqgui2d {
00021 
00026 class PolarFeature2dPainter
00027 {
00028   
00029   public:
00030     PolarFeature2dPainter();
00031 
00032     void setOffset( orca::Frame3d &offset );
00033     void setData( const orca::PolarFeature2dData &featureData );
00034     void paint( QPainter *p, int z );
00035     bool paintThisLayer( int z ) const { return z==hydroqguielementutil::Z_LASER_FEATURES; }
00036 
00037     void clear();
00038     
00039     QStringList contextMenu();
00040     void execute( int action );
00041 
00042   private:
00043 
00044     double offsetX_;
00045     double offsetY_;
00046     double offsetYaw_;
00047         double offsetPitch_;
00048     bool   isOffsetSet_;
00049 
00050     bool isUpsideDown_;
00051     bool isNotHorizontal_;
00052 
00053     bool isDisplay_;
00054 
00055     orca::PolarFeature2dData featureData_;
00056 };
00057 
00058 }
00059 
00060 #endif