OpenGL widget to display sensor data and the 3D world model. More...

#include <SensorDataGLWidget.h>

Public Slots
void	followNode (const QString &nodeName)
	Process ingoing messages.
void	performCameraMove ()
	Performs a 360 degree camera move around the robot.
void	setBgColor (float r, float g, float b, float a=0.0)
	Set clear color.
void	setCameraRotation (float rotationY, float rotationZ)
	set camera rotation relative to look-at node [deg]
void	setLookAt (BaseLib::Math::Vec3d lookAt)
Public Member Functions
void	addPainter (PainterPlugin *painter)
PainterPlugin *	getPainter (std::string p)
	SensorDataGLWidget (QWidget *parent=0)
	~SensorDataGLWidget ()
Protected Member Functions
void	initializeGL ()
	This method enables the OpenGL features that are used by the widget and sets the initial perspective. It is called by Qt once while creating the widget.
virtual QSize	minimumSizeHint () const
void	mouseMoveEvent (QMouseEvent *event)
void	mousePressEvent (QMouseEvent *event)
void	paintGL ()
void	resizeGL (int w, int h)
virtual QSize	sizeHint () const
void	wheelEvent (QWheelEvent *event)
Private Member Functions
void	setProjectionMatrix ()
Private Attributes
float	m_CameraDistance
bool	m_CameraImageMode
float	m_CameraOpeningAngle
float	m_CameraRotationY
float	m_CameraRotationZ
	Camera Position relative to LookAt point (degrees / mm)
int	m_CameraTurning
float	m_CameraTurnStartTime
	variables used for camera turn
bool	m_ForceRedraw
BaseLib::Math::Vec3d	m_LookAt
	Look-At coordinates relative to LookAtNode.
std::string	m_LookAtNode
	Node in SceneGraph to follow.
QPoint	m_MousePosOld
	the position of the mouse when a button is pressed.
std::list< PainterPlugin * >	m_Painters
std::map< std::string, PainterPlugin * >	m_PaintersMap
QTimer *	m_RedrawTimer
bool	m_SceneGraphInitialized
int	m_ViewportHeight
int	m_ViewportWidth
Static Private Attributes
static int	WidgetCounter

Detailed Description

OpenGL widget to display sensor data and the 3D world model.

Author:: David Gossow (RX/R12) This widget displays nothing in its initial state. Additional display functions can be added as PainterPlugin objects

Definition at line 37 of file SensorDataGLWidget.h.

Constructor & Destructor Documentation

SensorDataGLWidget::SensorDataGLWidget ( QWidget * parent = 0 )

The constructor initializes all member variables with meaningful values and gives the given parent to the constructor of the base class.

Parameters:

parent Pointer to the parent-widget.

SensorDataGLWidget::~SensorDataGLWidget ( )

The destructor deletes all dynamically allocated memory.

Member Function Documentation

void SensorDataGLWidget::addPainter ( PainterPlugin * painter )

void SensorDataGLWidget::followNode ( const QString & nodeName ) [slot]

Process ingoing messages.

attach the camera to this node

PainterPlugin* SensorDataGLWidget::getPainter ( std::string p ) [inline]

Definition at line 58 of file SensorDataGLWidget.h.

void SensorDataGLWidget::initializeGL ( ) [protected]

This method enables the OpenGL features that are used by the widget and sets the initial perspective. It is called by Qt once while creating the widget.

virtual QSize SensorDataGLWidget::minimumSizeHint ( ) const [protected, virtual]

Returns:: Minimum size of the widget

void SensorDataGLWidget::mouseMoveEvent ( QMouseEvent * event ) [protected]

This event is caught by the widget to implement zooming and changing the view angle by dragging the mouse. The pressed button is checked and the zoom or the view angle are changed according to the distance the mouse was moved. It is only used if the left or the right mouse button is pressed.

Parameters:

event The event that Qt gives to this widget when the mouse is moving across this widget.

void SensorDataGLWidget::mousePressEvent ( QMouseEvent * event ) [protected]

When the widget receives this event, the mouse position is saved to enable zooming and tilting with moving the mouse.

Parameters:

event The event that Qt gives to this widget when a mouse button was pressed above this widget.

void SensorDataGLWidget::paintGL ( ) [protected]

This is the main painting method of the widget. It is automatically called by Qt when the window has to be drawn. It is also called when incoming messages (by the message receive slot) change the data that is displayed. The method calls the other painting methods (i.e. paintSonarData(), paintRobot(), ...) if the corresponding switches (m_PaintSonarData, m_PaintRobot) are set to true.

void SensorDataGLWidget::performCameraMove ( ) [slot]

Performs a 360 degree camera move around the robot.

Parameters:

deltaPhi defines the angle wich the camera is turned by per step.