00001 /**************************************************************************** 00002 ** 00003 ** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies). 00004 ** All rights reserved. 00005 ** Contact: Nokia Corporation (qt-info@nokia.com) 00006 ** 00007 ** This file is part of the examples of the Qt Toolkit. 00008 ** 00009 ** $QT_BEGIN_LICENSE:BSD$ 00010 ** You may use this file under the terms of the BSD license as follows: 00011 ** 00012 ** "Redistribution and use in source and binary forms, with or without 00013 ** modification, are permitted provided that the following conditions are 00014 ** met: 00015 ** * Redistributions of source code must retain the above copyright 00016 ** notice, this list of conditions and the following disclaimer. 00017 ** * Redistributions in binary form must reproduce the above copyright 00018 ** notice, this list of conditions and the following disclaimer in 00019 ** the documentation and/or other materials provided with the 00020 ** distribution. 00021 ** * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor 00022 ** the names of its contributors may be used to endorse or promote 00023 ** products derived from this software without specific prior written 00024 ** permission. 00025 ** 00026 ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00027 ** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00028 ** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 00029 ** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 00030 ** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00031 ** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00032 ** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 00033 ** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 00034 ** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00035 ** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00036 ** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE." 00037 ** $QT_END_LICENSE$ 00038 ** 00039 ****************************************************************************/ 00040 00041 #ifndef ARMWIDGET_H 00042 #define ARMWIDGET_H 00043 00044 #include <QtGui/QGraphicsView> 00045 #include "joint.h" 00046 00047 static const double PIXELS_PER_METER = 200.0; 00048 00049 00050 double inchesToMeters(const double inches); 00051 double PixeltoMeter(const double pixel); 00052 double MetersToPixels(const double meters); 00053 00054 00055 typedef enum 00056 { 00057 Al5a, Pincher, Reactor, OldCorobot 00058 } armType; 00059 00060 class ArmWidget : public QGraphicsView 00061 { 00062 Q_OBJECT 00063 00064 public: 00065 ArmWidget(QWidget *parent = 0); 00066 00067 void itemMoved();//timer starts if a movement is detected 00068 void moveArmUp();//moves the arm up 00069 void moveArmDown();//moves the arm down 00070 void moveArmLeft();//moves the arm toward the robot 00071 void moveArmRight();//moves the arm far from the robot 00072 00073 00074 00075 public slots: 00076 void shoulder_degree(bool value);//if value is true, the signal theta1 will be emited in degrees 00077 void elbow_degree(bool value);//if value is true, the signal theta2 will be emited in degrees 00078 void received_pos(double x, double y);//set the position ofthe arm. x,y if he position in meters 00079 void Corobot(bool value);// value is true of a Corobot, false if is an Explorer, Explorer doesn't have an arm therefore the Widget is white 00080 void setModel(bool arm_al5a,bool arm_pincher,bool arm_reactor,bool arm_old_corobot); //set the model of the arm, and so the constants for the length of the parts of the arm 00081 signals: 00082 void theta1(double value); //shoulder angle in either degree or radian 00083 void theta2(double value); //elbow angle in either degree or radian 00084 void shoulderAngle_rad(double value);//shoulder angle in radian 00085 void elbowAngle_rad(double value); //elbow angle in radian 00086 void posarm(float x, float y); //position of the arm in meters 00087 00088 protected: 00089 void timerEvent(QTimerEvent *event);//execute this function when the timer is up. 00090 void drawBackground(QPainter *painter, const QRectF &rect); // draw the widget background 00091 00092 private: 00093 int timerId; 00094 QPointF end_effector; 00095 bool shoulder; 00096 bool elbow; 00097 armType arm_type; 00098 00099 }; 00100 00101 00102 00103 #endif // ARMWIDGET_H 00104