qgraphicspublisher.h

00001 #ifndef PATHPLANNER_QGRAPHICSPUBLISHER_H
00002 #define PATHPLANNER_QGRAPHICSPUBLISHER_H
00003 
00004 #ifdef QT4_FOUND
00005 #include <hydrointerfaces/pathplanner2d.h>
00006 #include <orcaifaceimpl/qgraphics2d.h>
00007 #include <QPicture>
00008 
00009 namespace pathplanner {
00010 
00011 //
00012 // @brief Allows path-planning algorithms to visualise their internal details
00013 //
00014 // @author Alex Brooks
00015 //
00016 class QGraphicsPublisher : public hydrointerfaces::PathPlanner2d::QGraphics2dPublisher
00017 {
00018 
00019 public: 
00020 
00021     QGraphicsPublisher( const orcaice::Context &context,
00022                         const std::string &name );
00023 
00024     void init();
00025     void localSetAndSend( const QPicture &pic );
00026 
00027 private: 
00028 
00029     orcaifaceimpl::QGraphics2dImplPtr qGraphics2dImpl_;
00030     orca::QGraphics2dData orcaPic_;
00031 };
00032 
00033 }
00034 #endif
00035 #endif