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qgraphicspublisher.h00001 #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 |
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