00001 #ifndef HOKUYO_H 00002 #define HOKUYO_H 00003 00004 00005 #include <QWidget> 00006 #include <QtGui/QGraphicsView> 00007 #include "Hokuyo_Points.h" 00008 #include <QMessageBox> 00009 00010 // This widgets tries to show the laser range finder data or the infrared sensor values 00011 00012 class Hokuyo : public QWidget 00013 { 00014 Q_OBJECT 00015 00016 public: 00017 Hokuyo(QWidget *parent = 0); 00018 ~Hokuyo(); 00019 Hokuyo_Points* hokuyo_points; // set of laser range finder points 00020 QMessageBox msgBox_hokuyo; 00021 bool showlines; // yes if the user want to show the lines 00022 double IR01_update; //latest first infrared sensor value 00023 double IR02_update; //latest second infrared sensor value 00024 bool showIR; // yes if the infrared sensors values has to be displayed 00025 bool showLRF; // yes if the laser range finder values has to be displayed 00026 00027 public slots: 00028 void hokuyo_update(Hokuyo_Points* hokuyo_points_); 00029 void IR_update(double IR01_new, double IR02_new); 00030 00031 protected: 00032 virtual void paintEvent(QPaintEvent *event); 00033 00034 private: 00035 int flag; 00036 00037 }; 00038 00039 #endif // HOKUYO_H